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AP_Proximity: pass mavlink_message_t by const reference

This commit is contained in:
Pierre Kancir 2019-04-30 12:22:49 +02:00 committed by Peter Barker
parent e7ae1b4fb6
commit 5b745aa1f1
5 changed files with 9 additions and 9 deletions
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2
libraries/AP_Proximity/AP_Proximity.cpp
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@ -269,7 +269,7 @@ AP_Proximity::Proximity_Status AP_Proximity::get_status() const
} }
// handle mavlink DISTANCE_SENSOR messages // handle mavlink DISTANCE_SENSOR messages
void AP_Proximity::handle_msg(mavlink_message_t *msg) void AP_Proximity::handle_msg(const mavlink_message_t &msg)
{ {
for (uint8_t i=0; i<num_instances; i++) { for (uint8_t i=0; i<num_instances; i++) {
if ((drivers[i] != nullptr) && (_type[i] != Proximity_Type_None)) { if ((drivers[i] != nullptr) && (_type[i] != Proximity_Type_None)) {

2
libraries/AP_Proximity/AP_Proximity.h
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@ -128,7 +128,7 @@ public:
float distance_min() const; float distance_min() const;
// handle mavlink DISTANCE_SENSOR messages // handle mavlink DISTANCE_SENSOR messages
void handle_msg(mavlink_message_t *msg); void handle_msg(const mavlink_message_t &msg);
// The Proximity_State structure is filled in by the backend driver // The Proximity_State structure is filled in by the backend driver
struct Proximity_State { struct Proximity_State {

2
libraries/AP_Proximity/AP_Proximity_Backend.h
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@ -43,7 +43,7 @@ public:
virtual bool get_upward_distance(float &distance) const { return false; } virtual bool get_upward_distance(float &distance) const { return false; }
// handle mavlink DISTANCE_SENSOR messages // handle mavlink DISTANCE_SENSOR messages
virtual void handle_msg(mavlink_message_t *msg) {} virtual void handle_msg(const mavlink_message_t &msg) {}
// get distance in meters in a particular direction in degrees (0 is forward, clockwise) // get distance in meters in a particular direction in degrees (0 is forward, clockwise)
// returns true on successful read and places distance in distance // returns true on successful read and places distance in distance

10
libraries/AP_Proximity/AP_Proximity_MAV.cpp
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@ -57,11 +57,11 @@ bool AP_Proximity_MAV::get_upward_distance(float &distance) const
} }
// handle mavlink DISTANCE_SENSOR messages // handle mavlink DISTANCE_SENSOR messages
void AP_Proximity_MAV::handle_msg(mavlink_message_t *msg) void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg)
{ {
if (msg->msgid == MAVLINK_MSG_ID_DISTANCE_SENSOR) { if (msg.msgid == MAVLINK_MSG_ID_DISTANCE_SENSOR) {
mavlink_distance_sensor_t packet; mavlink_distance_sensor_t packet;
mavlink_msg_distance_sensor_decode(msg, &packet); mavlink_msg_distance_sensor_decode(&msg, &packet);
// store distance to appropriate sector based on orientation field // store distance to appropriate sector based on orientation field
if (packet.orientation <= MAV_SENSOR_ROTATION_YAW_315) { if (packet.orientation <= MAV_SENSOR_ROTATION_YAW_315) {
@ -83,9 +83,9 @@ void AP_Proximity_MAV::handle_msg(mavlink_message_t *msg)
return; return;
} }
if (msg->msgid == MAVLINK_MSG_ID_OBSTACLE_DISTANCE) { if (msg.msgid == MAVLINK_MSG_ID_OBSTACLE_DISTANCE) {
mavlink_obstacle_distance_t packet; mavlink_obstacle_distance_t packet;
mavlink_msg_obstacle_distance_decode(msg, &packet); mavlink_msg_obstacle_distance_decode(&msg, &packet);
// check increment (message's sector width) // check increment (message's sector width)
float increment; float increment;

2
libraries/AP_Proximity/AP_Proximity_MAV.h
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@ -21,7 +21,7 @@ public:
bool get_upward_distance(float &distance) const override; bool get_upward_distance(float &distance) const override;
// handle mavlink DISTANCE_SENSOR messages // handle mavlink DISTANCE_SENSOR messages
void handle_msg(mavlink_message_t *msg) override; void handle_msg(const mavlink_message_t &msg) override;
private: private: