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AP_ADSB: pass mavlink_message_t by const reference

This commit is contained in:
Pierre Kancir 2019-04-30 12:22:47 +02:00 committed by Peter Barker
parent a44ed03a91
commit 78cd3cc722
2 changed files with 12 additions and 12 deletions
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16
libraries/AP_ADSB/AP_ADSB.cpp
View File

@ -384,7 +384,7 @@ bool AP_ADSB::find_index(const adsb_vehicle_t &vehicle, uint16_t *index) const
* Update the vehicle list. If the vehicle is already in the
* list then it will update it, otherwise it will be added.
*/
void AP_ADSB::handle_vehicle(const mavlink_message_t* packet)
void AP_ADSB::handle_vehicle(const mavlink_message_t &packet)
{
if (in_state.vehicle_list == nullptr) {
// We are only null when disabled. Updating is inhibited.
@ -393,7 +393,7 @@ void AP_ADSB::handle_vehicle(const mavlink_message_t* packet)
uint16_t index = in_state.list_size + 1; // initialize with invalid index
adsb_vehicle_t vehicle {};
mavlink_msg_adsb_vehicle_decode(packet, &vehicle.info);
mavlink_msg_adsb_vehicle_decode(&packet, &vehicle.info);
const Location vehicle_loc = AP_ADSB::get_location(vehicle);
const bool my_loc_is_zero = _my_loc.is_zero();
const float my_loc_distance_to_vehicle = _my_loc.get_distance(vehicle_loc);
@ -691,10 +691,10 @@ uint8_t AP_ADSB::get_encoded_callsign_null_char()
* This allows a GCS to send cfg info through the autopilot to the ADSB hardware.
* This is done indirectly by reading and storing the packet and then another mechanism sends it out periodically
*/
void AP_ADSB::handle_out_cfg(const mavlink_message_t* msg)
void AP_ADSB::handle_out_cfg(const mavlink_message_t &msg)
{
mavlink_uavionix_adsb_out_cfg_t packet {};
mavlink_msg_uavionix_adsb_out_cfg_decode(msg, &packet);
mavlink_msg_uavionix_adsb_out_cfg_decode(&msg, &packet);
out_state.cfg.was_set_externally = true;
@ -759,10 +759,10 @@ void AP_ADSB::send_configure(const mavlink_channel_t chan)
* we determine which channel is on so we don't have to send out_state to all channels
*/
void AP_ADSB::handle_transceiver_report(const mavlink_channel_t chan, const mavlink_message_t* msg)
void AP_ADSB::handle_transceiver_report(const mavlink_channel_t chan, const mavlink_message_t &msg)
{
mavlink_uavionix_adsb_transceiver_health_report_t packet {};
mavlink_msg_uavionix_adsb_transceiver_health_report_decode(msg, &packet);
mavlink_msg_uavionix_adsb_transceiver_health_report_decode(&msg, &packet);
if (out_state.chan != chan) {
gcs().send_text(MAV_SEVERITY_DEBUG, "ADSB: Found transceiver on channel %d", chan);
@ -852,9 +852,9 @@ bool AP_ADSB::next_sample(adsb_vehicle_t &vehicle)
return samples.pop_front(vehicle);
}
void AP_ADSB::handle_message(const mavlink_channel_t chan, const mavlink_message_t* msg)
void AP_ADSB::handle_message(const mavlink_channel_t chan, const mavlink_message_t &msg)
{
switch (msg->msgid) {
switch (msg.msgid) {
case MAVLINK_MSG_ID_ADSB_VEHICLE:
handle_vehicle(msg);
break;

8
libraries/AP_ADSB/AP_ADSB.h
View File

@ -77,7 +77,7 @@ public:
bool next_sample(adsb_vehicle_t &obstacle);
// mavlink message handler
void handle_message(const mavlink_channel_t chan, const mavlink_message_t* msg);
void handle_message(const mavlink_channel_t chan, const mavlink_message_t &msg);
// when true, a vehicle with that ICAO was found in database and the vehicle is populated.
bool get_vehicle_by_ICAO(const uint32_t icao, adsb_vehicle_t &vehicle) const;
@ -120,12 +120,12 @@ private:
uint8_t get_encoded_callsign_null_char(void);
// add or update vehicle_list from inbound mavlink msg
void handle_vehicle(const mavlink_message_t* msg);
void handle_vehicle(const mavlink_message_t &msg);
// handle ADS-B transceiver report for ping2020
void handle_transceiver_report(mavlink_channel_t chan, const mavlink_message_t* msg);
void handle_transceiver_report(mavlink_channel_t chan, const mavlink_message_t &msg);
void handle_out_cfg(const mavlink_message_t* msg);
void handle_out_cfg(const mavlink_message_t &msg);
AP_Int8 _enabled;