From ac3f4f0c5ee8c6083f9e8058769f26cea76288ce Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 29 Sep 2023 14:10:03 +1000
Subject: [PATCH] GCS_MAVLink: use mavlink_XXX_encode_status() in example code

---
 libraries/GCS_MAVLink/examples/routing/routing.cpp | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/libraries/GCS_MAVLink/examples/routing/routing.cpp b/libraries/GCS_MAVLink/examples/routing/routing.cpp
index c89abeb5a5..7ebb9103a7 100644
--- a/libraries/GCS_MAVLink/examples/routing/routing.cpp
+++ b/libraries/GCS_MAVLink/examples/routing/routing.cpp
@@ -24,6 +24,7 @@ const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
 };
 
 static MAVLink_routing routing;
+static mavlink_status_t status;
 
 void setup(void)
 {
@@ -40,7 +41,7 @@ void loop(void)
     mavlink_message_t msg;
     mavlink_heartbeat_t heartbeat = {0};
 
-    mavlink_msg_heartbeat_encode(3, 1, &msg, &heartbeat);
+    mavlink_msg_heartbeat_encode_status(3, 1, &status, &msg, &heartbeat);
 
     GCS_MAVLINK *dummy_link = gcs().chan(0);
 
@@ -51,7 +52,7 @@ void loop(void)
 
     // incoming non-targetted message
     mavlink_attitude_t attitude = {0};
-    mavlink_msg_attitude_encode(3, 1, &msg, &attitude);
+    mavlink_msg_attitude_encode_status(3, 1, &status, &msg, &attitude);
     if (!routing.check_and_forward(*dummy_link, msg)) {
         hal.console->printf("attitude should be processed locally\n");
         err_count++;
@@ -61,7 +62,7 @@ void loop(void)
     mavlink_param_set_t param_set = {0};
     param_set.target_system = mavlink_system.sysid+1;
     param_set.target_component = mavlink_system.compid;
-    mavlink_msg_param_set_encode(3, 1, &msg, &param_set);
+    mavlink_msg_param_set_encode_status(3, 1, &status, &msg, &param_set);
     if (routing.check_and_forward(*dummy_link, msg)) {
         hal.console->printf("param set 1 should not be processed locally\n");
         err_count++;
@@ -70,7 +71,7 @@ void loop(void)
     // incoming targeted message for us
     param_set.target_system = mavlink_system.sysid;
     param_set.target_component = mavlink_system.compid;
-    mavlink_msg_param_set_encode(3, 1, &msg, &param_set);
+    mavlink_msg_param_set_encode_status(3, 1, &status, &msg, &param_set);
     if (!routing.check_and_forward(*dummy_link, msg)) {
         hal.console->printf("param set 2 should be processed locally\n");
         err_count++;
@@ -80,7 +81,7 @@ void loop(void)
     // should be processed locally
     param_set.target_system = mavlink_system.sysid;
     param_set.target_component = mavlink_system.compid+1;
-    mavlink_msg_param_set_encode(3, 1, &msg, &param_set);
+    mavlink_msg_param_set_encode_status(3, 1, &status, &msg, &param_set);
     if (!routing.check_and_forward(*dummy_link, msg)) {
         hal.console->printf("param set 3 should be processed locally\n");
         err_count++;
@@ -89,7 +90,7 @@ void loop(void)
     // incoming broadcast message should be processed locally
     param_set.target_system = 0;
     param_set.target_component = mavlink_system.compid+1;
-    mavlink_msg_param_set_encode(3, 1, &msg, &param_set);
+    mavlink_msg_param_set_encode_status(3, 1, &status, &msg, &param_set);
     if (!routing.check_and_forward(*dummy_link, msg)) {
         hal.console->printf("param set 4 should be processed locally\n");
         err_count++;