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AP_ADSB: fix getting a copy rather than a reference 

These have been caught by making constructors private and enforcing
calling a create() method to create objects are supposed to be
statically allocated only.

The Vector3f reference was just nearby and was a change copied from
similar PR from Peter Barker (#6873).
This commit is contained in:
Lucas De Marchi 2017-08-08 00:49:54 -07:00 committed by Andrew Tridgell
parent e23a2c5254
commit eaa603b05c
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_ADSB/AP_ADSB.cpp
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@ -462,8 +462,8 @@ void AP_ADSB::send_adsb_vehicle(const mavlink_channel_t chan)
void AP_ADSB::send_dynamic_out(const mavlink_channel_t chan) void AP_ADSB::send_dynamic_out(const mavlink_channel_t chan)
{ {
AP_GPS gps = _ahrs.get_gps(); const AP_GPS &gps = _ahrs.get_gps();
Vector3f gps_velocity = gps.velocity(); const Vector3f &gps_velocity = gps.velocity();
int32_t latitude = _my_loc.lat; int32_t latitude = _my_loc.lat;
int32_t longitude = _my_loc.lng; int32_t longitude = _my_loc.lng;
@ -506,7 +506,7 @@ void AP_ADSB::send_dynamic_out(const mavlink_channel_t chan)
const uint64_t gps_time = gps.time_epoch_usec(); const uint64_t gps_time = gps.time_epoch_usec();
const uint32_t utcTime = gps_time / 1000000ULL; const uint32_t utcTime = gps_time / 1000000ULL;
AP_Baro baro = _ahrs.get_baro(); const AP_Baro &baro = _ahrs.get_baro();
int32_t altPres = INT_MAX; int32_t altPres = INT_MAX;
if (baro.healthy()) { if (baro.healthy()) {
// Altitude difference between 101325 (Pascals) and current pressure. Result in millimeters // Altitude difference between 101325 (Pascals) and current pressure. Result in millimeters
@ -578,7 +578,7 @@ uint32_t AP_ADSB::genICAO(const Location_Class &loc)
{ {
// gps_time is not seconds since UTC midnight, but it is an equivalent random number // gps_time is not seconds since UTC midnight, but it is an equivalent random number
// TODO: use UTC time instead of GPS time // TODO: use UTC time instead of GPS time
AP_GPS gps = _ahrs.get_gps(); const AP_GPS &gps = _ahrs.get_gps();
const uint64_t gps_time = gps.time_epoch_usec(); const uint64_t gps_time = gps.time_epoch_usec();
uint32_t timeSum = 0; uint32_t timeSum = 0;