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AP_RangeFinder: pass mavlink_message_t by const reference

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This commit is contained in:
Pierre Kancir 2019-04-30 12:22:49 +02:00 committed by Peter Barker
parent 5b745aa1f1
commit c4ec373b20
5 changed files with 6 additions and 6 deletions
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4
libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
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@ -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) {

2
libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h
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@ -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:

2
libraries/AP_RangeFinder/RangeFinder.cpp
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@ -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++) {

2
libraries/AP_RangeFinder/RangeFinder.h
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@ -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;

2
libraries/AP_RangeFinder/RangeFinder_Backend.h
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@ -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; }