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ArduCopter: pass mavlink_message_t to handle_command_*_packet 

the "special case" blocks are getting longer and longer.  Merge the switch statements for the command type to be handled by passing around the message.
This commit is contained in:
Peter Barker 2023-08-17 17:53:02 +10:00 committed by Andrew Tridgell
parent 915be41cb5
commit 57eeda0439
2 changed files with 6 additions and 6 deletions
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8
ArduCopter/GCS_Mavlink.cpp
View File

@ -736,7 +736,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_do_reposition(const mavlink_co
#endif
}
MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_int_t &packet)
MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
{
switch(packet.command) {
#if MODE_FOLLOW_ENABLED == ENABLED
@ -757,7 +757,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_i
return handle_command_pause_continue(packet);
default:
return GCS_MAVLINK::handle_command_int_packet(packet);
return GCS_MAVLINK::handle_command_int_packet(packet, msg);
}
}
@ -779,7 +779,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_mount(const mavlink_command_long_t
}
#endif
MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_long_t &packet)
MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_long_t &packet, const mavlink_message_t &msg)
{
switch(packet.command) {
@ -1004,7 +1004,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
}
default:
return GCS_MAVLINK::handle_command_long_packet(packet);
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
}

4
ArduCopter/GCS_Mavlink.h
View File

@ -32,8 +32,8 @@ protected:
#if HAL_MOUNT_ENABLED
MAV_RESULT handle_command_mount(const mavlink_command_long_t &packet, const mavlink_message_t &msg) override;
#endif
MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet) override;
MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;
MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet, const mavlink_message_t &msg) override;
MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_pause_continue(const mavlink_command_int_t &packet);