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AP_Beacon: Replace max_buffered_positions variable with a #define

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Dr.-Ing. Amilcar Do Carmo Lucas 2017-11-01 12:14:03 +01:00 committed by Randy Mackay
parent 7df1419579
commit 29078824fc
1 changed files with 6 additions and 5 deletions
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11
libraries/AP_Beacon/AP_Beacon_Marvelmind.cpp
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@ -27,6 +27,8 @@
#define AP_BEACON_MARVELMIND_POSITION_DATAGRAM_HIGHRES_ID 0x0011
#define AP_BEACON_MARVELMIND_POSITIONS_DATAGRAM_HIGHRES_ID 0x0012
#define MAX_BUFFERED_POSITIONS 3
extern const AP_HAL::HAL& hal;
AP_Beacon_Marvelmind::AP_Beacon_Marvelmind(AP_Beacon &frontend, AP_SerialManager &serial_manager) :
@ -78,10 +80,10 @@ uint8_t AP_Beacon_Marvelmind::mark_position_ready()
hedge->position_buffer[ind].ready = true;
hedge->position_buffer[ind].processed = false;
ind++;
if (ind >= hedge->max_buffered_positions) {
if (ind >= MAX_BUFFERED_POSITIONS) {
ind = 0;
}
if (hedge->_last_values_count < hedge->max_buffered_positions) {
if (hedge->_last_values_count < MAX_BUFFERED_POSITIONS) {
hedge->_last_values_count++;
}
hedge->_have_new_values = true;
@ -333,7 +335,6 @@ void AP_Beacon_Marvelmind::update(void)
// Create and initialize MarvelmindHedge structure
//////////////////////////////////////////////////////////////////////////////
AP_Beacon_Marvelmind::MarvelmindHedge::MarvelmindHedge() :
max_buffered_positions{3},
position_buffer{nullptr},
positions_beacons{},
pause{false},
@ -342,12 +343,12 @@ AP_Beacon_Marvelmind::MarvelmindHedge::MarvelmindHedge() :
_last_values_next{0},
_have_new_values{false}
{
position_buffer = new PositionValue[max_buffered_positions];
position_buffer = new PositionValue[MAX_BUFFERED_POSITIONS];
if (position_buffer == nullptr) {
hal.console->printf("MarvelMind: Not enough memory\n");
return;
}
for (uint8_t i = 0; i < max_buffered_positions; i++) {
for (uint8_t i = 0; i < MAX_BUFFERED_POSITIONS; i++) {
position_buffer[i].ready = false;
position_buffer[i].processed = false;
}