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AP_Terrain: 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 c4ec373b20
commit 82de3efc09
2 changed files with 10 additions and 10 deletions
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6
libraries/AP_Terrain/AP_Terrain.h
View File

@ -103,9 +103,9 @@ public:
// handle terrain data and reports from GCS // handle terrain data and reports from GCS
void send_terrain_report(mavlink_channel_t chan, const Location &loc, bool extrapolate); void send_terrain_report(mavlink_channel_t chan, const Location &loc, bool extrapolate);
void handle_data(mavlink_channel_t chan, mavlink_message_t *msg); void handle_data(mavlink_channel_t chan, const mavlink_message_t &msg);
void handle_terrain_check(mavlink_channel_t chan, mavlink_message_t *msg); void handle_terrain_check(mavlink_channel_t chan, const mavlink_message_t &msg);
void handle_terrain_data(mavlink_message_t *msg); void handle_terrain_data(const mavlink_message_t &msg);
/* /*
find the terrain height in meters above sea level for a location find the terrain height in meters above sea level for a location

14
libraries/AP_Terrain/TerrainGCS.cpp
View File

@ -188,11 +188,11 @@ void AP_Terrain::get_statistics(uint16_t &pending, uint16_t &loaded)
/* /*
handle terrain messages from GCS handle terrain messages from GCS
*/ */
void AP_Terrain::handle_data(mavlink_channel_t chan, mavlink_message_t *msg) void AP_Terrain::handle_data(mavlink_channel_t chan, const mavlink_message_t &msg)
{ {
if (msg->msgid == MAVLINK_MSG_ID_TERRAIN_DATA) { if (msg.msgid == MAVLINK_MSG_ID_TERRAIN_DATA) {
handle_terrain_data(msg); handle_terrain_data(msg);
} else if (msg->msgid == MAVLINK_MSG_ID_TERRAIN_CHECK) { } else if (msg.msgid == MAVLINK_MSG_ID_TERRAIN_CHECK) {
handle_terrain_check(chan, msg); handle_terrain_check(chan, msg);
} }
} }
@ -243,10 +243,10 @@ void AP_Terrain::send_terrain_report(mavlink_channel_t chan, const Location &loc
/* /*
handle TERRAIN_CHECK messages from GCS handle TERRAIN_CHECK messages from GCS
*/ */
void AP_Terrain::handle_terrain_check(mavlink_channel_t chan, mavlink_message_t *msg) void AP_Terrain::handle_terrain_check(mavlink_channel_t chan, const mavlink_message_t &msg)
{ {
mavlink_terrain_check_t packet; mavlink_terrain_check_t packet;
mavlink_msg_terrain_check_decode(msg, &packet); mavlink_msg_terrain_check_decode(&msg, &packet);
Location loc; Location loc;
loc.lat = packet.lat; loc.lat = packet.lat;
loc.lng = packet.lon; loc.lng = packet.lon;
@ -256,10 +256,10 @@ void AP_Terrain::handle_terrain_check(mavlink_channel_t chan, mavlink_message_t
/* /*
handle TERRAIN_DATA messages from GCS handle TERRAIN_DATA messages from GCS
*/ */
void AP_Terrain::handle_terrain_data(mavlink_message_t *msg) void AP_Terrain::handle_terrain_data(const mavlink_message_t &msg)
{ {
mavlink_terrain_data_t packet; mavlink_terrain_data_t packet;
mavlink_msg_terrain_data_decode(msg, &packet); mavlink_msg_terrain_data_decode(&msg, &packet);
uint16_t i; uint16_t i;
for (i=0; i<cache_size; i++) { for (i=0; i<cache_size; i++) {