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Plane: use _send_buf() functions to reduce stack usage in MAVLink replies 

this re-uses the incoming message buffer in constructing the reply
This commit is contained in:
Andrew Tridgell 2014-03-19 07:33:37 +11:00 committed by Randy Mackay
parent 537e78f9fa
commit 7d3523b4a7
1 changed files with 21 additions and 13 deletions
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34
ArduPlane/GCS_Mavlink.pde
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@ -1367,7 +1367,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
} }
mavlink_msg_command_ack_send( mavlink_msg_command_ack_send_buf(
msg,
chan, chan,
packet.command, packet.command,
result); result);
@ -1488,7 +1489,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} }
float value = vp->cast_to_float(p_type); float value = vp->cast_to_float(p_type);
mavlink_msg_param_value_send( mavlink_msg_param_value_send_buf(
msg,
chan, chan,
param_name, param_name,
value, value,
@ -1565,7 +1567,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
set_guided_WP(); set_guided_WP();
// verify we recevied the command // verify we recevied the command
mavlink_msg_mission_ack_send( mavlink_msg_mission_ack_send_buf(
msg,
chan, chan,
msg->sysid, msg->sysid,
msg->compid, msg->compid,
@ -1581,7 +1584,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
next_WP_loc.alt = cmd.content.location.alt; next_WP_loc.alt = cmd.content.location.alt;
// verify we recevied the command // verify we recevied the command
mavlink_msg_mission_ack_send( mavlink_msg_mission_ack_send_buf(
msg,
chan, chan,
msg->sysid, msg->sysid,
msg->compid, msg->compid,
@ -1627,7 +1631,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
waypoint_request_i++; waypoint_request_i++;
if (waypoint_request_i >= waypoint_request_last) { if (waypoint_request_i >= waypoint_request_last) {
mavlink_msg_mission_ack_send( mavlink_msg_mission_ack_send_buf(
msg,
chan, chan,
msg->sysid, msg->sysid,
msg->compid, msg->compid,
@ -1651,7 +1656,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mission_failed: mission_failed:
// we are rejecting the mission/waypoint // we are rejecting the mission/waypoint
mavlink_msg_mission_ack_send( mavlink_msg_mission_ack_send_buf(
msg,
chan, chan,
msg->sysid, msg->sysid,
msg->compid, msg->compid,
@ -1689,8 +1695,8 @@ mission_failed:
send_text_P(SEVERITY_LOW,PSTR("bad fence point")); send_text_P(SEVERITY_LOW,PSTR("bad fence point"));
} else { } else {
Vector2l point = get_fence_point_with_index(packet.idx); Vector2l point = get_fence_point_with_index(packet.idx);
mavlink_msg_fence_point_send(chan, msg->sysid, msg->compid, packet.idx, g.fence_total, mavlink_msg_fence_point_send_buf(msg, chan, msg->sysid, msg->compid, packet.idx, g.fence_total,
point.x*1.0e-7, point.y*1.0e-7); point.x*1.0e-7, point.y*1.0e-7);
} }
break; break;
} }
@ -1741,10 +1747,11 @@ mission_failed:
break; break;
} }
mavlink_msg_rally_point_send(chan, msg->sysid, msg->compid, packet.idx, mavlink_msg_rally_point_send_buf(msg,
g.rally_total, rally_point.lat, rally_point.lng, chan, msg->sysid, msg->compid, packet.idx,
rally_point.alt, rally_point.break_alt, rally_point.land_dir, g.rally_total, rally_point.lat, rally_point.lng,
rally_point.flags); rally_point.alt, rally_point.break_alt, rally_point.land_dir,
rally_point.flags);
break; break;
} }
@ -1804,7 +1811,8 @@ mission_failed:
// we send the value we actually set, which could be // we send the value we actually set, which could be
// different from the value sent, in case someone sent // different from the value sent, in case someone sent
// a fractional value to an integer type // a fractional value to an integer type
mavlink_msg_param_value_send( mavlink_msg_param_value_send_buf(
msg,
chan, chan,
key, key,
vp->cast_to_float(var_type), vp->cast_to_float(var_type),