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AP_VisualOdom: pass mavlink_message_t by const reference

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This commit is contained in:
Pierre Kancir 2019-07-11 10:29:27 +02:00 committed by Peter Barker
parent 82de3efc09
commit 9a734c1fc7
5 changed files with 6 additions and 6 deletions
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2
libraries/AP_VisualOdom/AP_VisualOdom.cpp
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@ -126,7 +126,7 @@ bool AP_VisualOdom::healthy() const
} }
// consume VISION_POSITION_DELTA MAVLink message // consume VISION_POSITION_DELTA MAVLink message
void AP_VisualOdom::handle_msg(mavlink_message_t *msg) void AP_VisualOdom::handle_msg(const mavlink_message_t &msg)
{ {
// exit immediately if not enabled // exit immediately if not enabled
if (!enabled()) { if (!enabled()) {

2
libraries/AP_VisualOdom/AP_VisualOdom.h
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@ -69,7 +69,7 @@ public:
const Vector3f &get_pos_offset(void) const { return _pos_offset; } const Vector3f &get_pos_offset(void) const { return _pos_offset; }
// consume data from MAVLink messages // consume data from MAVLink messages
void handle_msg(mavlink_message_t *msg); void handle_msg(const mavlink_message_t &msg);
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];

2
libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
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@ -25,7 +25,7 @@ public:
AP_VisualOdom_Backend(AP_VisualOdom &frontend); AP_VisualOdom_Backend(AP_VisualOdom &frontend);
// consume VISION_POSITION_DELTA MAVLink message // consume VISION_POSITION_DELTA MAVLink message
virtual void handle_msg(mavlink_message_t *msg) {}; virtual void handle_msg(const mavlink_message_t &msg) {};
protected: protected:

4
libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
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@ -26,11 +26,11 @@ AP_VisualOdom_MAV::AP_VisualOdom_MAV(AP_VisualOdom &frontend) :
} }
// consume VISIOIN_POSITION_DELTA MAVLink message // consume VISIOIN_POSITION_DELTA MAVLink message
void AP_VisualOdom_MAV::handle_msg(mavlink_message_t *msg) void AP_VisualOdom_MAV::handle_msg(const mavlink_message_t &msg)
{ {
// decode message // decode message
mavlink_vision_position_delta_t packet; mavlink_vision_position_delta_t packet;
mavlink_msg_vision_position_delta_decode(msg, &packet); mavlink_msg_vision_position_delta_decode(&msg, &packet);
const Vector3f angle_delta(packet.angle_delta[0], packet.angle_delta[1], packet.angle_delta[2]); const Vector3f angle_delta(packet.angle_delta[0], packet.angle_delta[1], packet.angle_delta[2]);
const Vector3f position_delta(packet.position_delta[0], packet.position_delta[1], packet.position_delta[2]); const Vector3f position_delta(packet.position_delta[0], packet.position_delta[1], packet.position_delta[2]);

2
libraries/AP_VisualOdom/AP_VisualOdom_MAV.h
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@ -10,5 +10,5 @@ public:
AP_VisualOdom_MAV(AP_VisualOdom &frontend); AP_VisualOdom_MAV(AP_VisualOdom &frontend);
// consume VISION_POSITION_DELTA MAVLink message // consume VISION_POSITION_DELTA MAVLink message
void handle_msg(mavlink_message_t *msg) override; void handle_msg(const mavlink_message_t &msg) override;
}; };