From c4ec373b20058d0ac2ae8b8e05db57f2a194a1d8 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir@azurdrones.com>
Date: Tue, 30 Apr 2019 12:22:49 +0200
Subject: [PATCH] AP_RangeFinder: pass mavlink_message_t by const reference

---
 libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp | 4 ++--
 libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h   | 2 +-
 libraries/AP_RangeFinder/RangeFinder.cpp            | 2 +-
 libraries/AP_RangeFinder/RangeFinder.h              | 2 +-
 libraries/AP_RangeFinder/RangeFinder_Backend.h      | 2 +-
 5 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
index 3941164134..cae9a7db72 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
@@ -46,10 +46,10 @@ bool AP_RangeFinder_MAVLink::detect()
 /*
    Set the distance based on a MAVLINK message
 */
-void AP_RangeFinder_MAVLink::handle_msg(mavlink_message_t *msg)
+void AP_RangeFinder_MAVLink::handle_msg(const mavlink_message_t &msg)
 {
     mavlink_distance_sensor_t packet;
-    mavlink_msg_distance_sensor_decode(msg, &packet);
+    mavlink_msg_distance_sensor_decode(&msg, &packet);
 
     // only accept distances for downward facing sensors
     if (packet.orientation == MAV_SENSOR_ROTATION_PITCH_270) {
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h b/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h
index f489a471ad..8e5a783232 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h
@@ -20,7 +20,7 @@ public:
     void update(void) override;
 
     // Get update from mavlink
-    void handle_msg(mavlink_message_t *msg) override;
+    void handle_msg(const mavlink_message_t &msg) override;
 
 protected:
 
diff --git a/libraries/AP_RangeFinder/RangeFinder.cpp b/libraries/AP_RangeFinder/RangeFinder.cpp
index ffc0efd428..7512c207d8 100644
--- a/libraries/AP_RangeFinder/RangeFinder.cpp
+++ b/libraries/AP_RangeFinder/RangeFinder.cpp
@@ -541,7 +541,7 @@ RangeFinder::RangeFinder_Status RangeFinder::status_orient(enum Rotation orienta
     return backend->status();
 }
 
-void RangeFinder::handle_msg(mavlink_message_t *msg)
+void RangeFinder::handle_msg(const mavlink_message_t &msg)
 {
     uint8_t i;
     for (i=0; i<num_instances; i++) {
diff --git a/libraries/AP_RangeFinder/RangeFinder.h b/libraries/AP_RangeFinder/RangeFinder.h
index 4b8c2cad27..afc6a98887 100644
--- a/libraries/AP_RangeFinder/RangeFinder.h
+++ b/libraries/AP_RangeFinder/RangeFinder.h
@@ -119,7 +119,7 @@ public:
     void update(void);
 
     // Handle an incoming DISTANCE_SENSOR message (from a MAVLink enabled range finder)
-    void handle_msg(mavlink_message_t *msg);
+    void handle_msg(const mavlink_message_t &msg);
 
     // return true if we have a range finder with the specified orientation
     bool has_orientation(enum Rotation orientation) const;
diff --git a/libraries/AP_RangeFinder/RangeFinder_Backend.h b/libraries/AP_RangeFinder/RangeFinder_Backend.h
index b3386ef8fc..ce9a41d463 100644
--- a/libraries/AP_RangeFinder/RangeFinder_Backend.h
+++ b/libraries/AP_RangeFinder/RangeFinder_Backend.h
@@ -31,7 +31,7 @@ public:
     // update the state structure
     virtual void update() = 0;
 
-    virtual void handle_msg(mavlink_message_t *msg) { return; }
+    virtual void handle_msg(const mavlink_message_t &msg) { return; }
 
     enum Rotation orientation() const { return (Rotation)params.orientation.get(); }
     uint16_t distance_cm() const { return state.distance_cm; }