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APMrover2: pass mavlink_message_t by const reference

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This commit is contained in:
Pierre Kancir 2019-04-30 12:22:50 +02:00 committed by Peter Barker
parent 4180345fdc
commit 86406fdb02
2 changed files with 15 additions and 15 deletions
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24
APMrover2/GCS_Mavlink.cpp
View File

@ -281,7 +281,7 @@ void GCS_MAVLINK_Rover::send_pid_tuning()
} }
} }
void Rover::send_wheel_encoder_distance(mavlink_channel_t chan) void Rover::send_wheel_encoder_distance(const mavlink_channel_t chan)
{ {
// send wheel encoder data using wheel_distance message // send wheel encoder data using wheel_distance message
if (g2.wheel_encoder.num_sensors() > 0) { if (g2.wheel_encoder.num_sensors() > 0) {
@ -338,7 +338,7 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
return true; return true;
} }
void GCS_MAVLINK_Rover::packetReceived(const mavlink_status_t &status, mavlink_message_t &msg) void GCS_MAVLINK_Rover::packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg)
{ {
// pass message to follow library // pass message to follow library
rover.g2.follow.handle_msg(msg); rover.g2.follow.handle_msg(msg);
@ -653,27 +653,27 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_long_packet(const mavlink_command_l
// a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes // a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
void GCS_MAVLINK_Rover::handle_rc_channels_override(const mavlink_message_t *msg) void GCS_MAVLINK_Rover::handle_rc_channels_override(const mavlink_message_t &msg)
{ {
rover.failsafe.last_heartbeat_ms = AP_HAL::millis(); rover.failsafe.last_heartbeat_ms = AP_HAL::millis();
GCS_MAVLINK::handle_rc_channels_override(msg); GCS_MAVLINK::handle_rc_channels_override(msg);
} }
void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg) void GCS_MAVLINK_Rover::handleMessage(const mavlink_message_t &msg)
{ {
switch (msg->msgid) { switch (msg.msgid) {
case MAVLINK_MSG_ID_MANUAL_CONTROL: case MAVLINK_MSG_ID_MANUAL_CONTROL:
{ {
if (msg->sysid != rover.g.sysid_my_gcs) { // Only accept control from our gcs if (msg.sysid != rover.g.sysid_my_gcs) { // Only accept control from our gcs
break; break;
} }
mavlink_manual_control_t packet; mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(msg, &packet); mavlink_msg_manual_control_decode(&msg, &packet);
if (packet.target != rover.g.sysid_this_mav) { if (packet.target != rover.g.sysid_this_mav) {
break; // only accept control aimed at us break; // only accept control aimed at us
@ -692,7 +692,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_HEARTBEAT: case MAVLINK_MSG_ID_HEARTBEAT:
{ {
// we keep track of the last time we received a heartbeat from our GCS for failsafe purposes // we keep track of the last time we received a heartbeat from our GCS for failsafe purposes
if (msg->sysid != rover.g.sysid_my_gcs) { if (msg.sysid != rover.g.sysid_my_gcs) {
break; break;
} }
rover.failsafe.last_heartbeat_ms = AP_HAL::millis(); rover.failsafe.last_heartbeat_ms = AP_HAL::millis();
@ -703,7 +703,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
{ {
// decode packet // decode packet
mavlink_set_attitude_target_t packet; mavlink_set_attitude_target_t packet;
mavlink_msg_set_attitude_target_decode(msg, &packet); mavlink_msg_set_attitude_target_decode(&msg, &packet);
// exit if vehicle is not in Guided mode // exit if vehicle is not in Guided mode
if (!rover.control_mode->in_guided_mode()) { if (!rover.control_mode->in_guided_mode()) {
@ -735,7 +735,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
{ {
// decode packet // decode packet
mavlink_set_position_target_local_ned_t packet; mavlink_set_position_target_local_ned_t packet;
mavlink_msg_set_position_target_local_ned_decode(msg, &packet); mavlink_msg_set_position_target_local_ned_decode(&msg, &packet);
// exit if vehicle is not in Guided mode // exit if vehicle is not in Guided mode
if (!rover.control_mode->in_guided_mode()) { if (!rover.control_mode->in_guided_mode()) {
@ -855,7 +855,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
{ {
// decode packet // decode packet
mavlink_set_position_target_global_int_t packet; mavlink_set_position_target_global_int_t packet;
mavlink_msg_set_position_target_global_int_decode(msg, &packet); mavlink_msg_set_position_target_global_int_decode(&msg, &packet);
// exit if vehicle is not in Guided mode // exit if vehicle is not in Guided mode
if (!rover.control_mode->in_guided_mode()) { if (!rover.control_mode->in_guided_mode()) {
@ -960,7 +960,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_HIL_STATE: case MAVLINK_MSG_ID_HIL_STATE:
{ {
mavlink_hil_state_t packet; mavlink_hil_state_t packet;
mavlink_msg_hil_state_decode(msg, &packet); mavlink_msg_hil_state_decode(&msg, &packet);
// sanity check location // sanity check location
if (!check_latlng(packet.lat, packet.lon)) { if (!check_latlng(packet.lat, packet.lon)) {

6
APMrover2/GCS_Mavlink.h
View File

@ -36,13 +36,13 @@ protected:
private: private:
void handleMessage(mavlink_message_t * msg) override; void handleMessage(const mavlink_message_t &msg) override;
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override; bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override; void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
void handle_rc_channels_override(const mavlink_message_t *msg) override; void handle_rc_channels_override(const mavlink_message_t &msg) override;
bool try_send_message(enum ap_message id) override; bool try_send_message(enum ap_message id) override;
void packetReceived(const mavlink_status_t &status, mavlink_message_t &msg) override; void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override;
MAV_MODE base_mode() const override; MAV_MODE base_mode() const override;
MAV_STATE system_status() const override; MAV_STATE system_status() const override;