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AP_DAL: fixed range beacon handling

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This commit is contained in:
Andrew Tridgell 2020-11-07 12:01:09 +11:00
parent d01534c7c6
commit 9542f365f6
2 changed files with 3 additions and 4 deletions
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5
libraries/AP_DAL/AP_DAL_Beacon.cpp
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@ -16,8 +16,8 @@ void AP_DAL_Beacon::start_frame()
{
const auto *bcon = AP::beacon();
_RBCH.ptr_is_nullptr = (bcon == nullptr);
const log_RBCH old = _RBCH;
_RBCH.ptr_is_nullptr = (bcon == nullptr);
if (bcon != nullptr) {
_RBCH.count = bcon->count();
_RBCH.get_vehicle_position_ned_returncode = bcon->get_vehicle_position_ned(_RBCH.vehicle_position_ned, _RBCH.accuracy_estimate);
@ -36,8 +36,7 @@ void AP_DAL_Beacon::start_frame()
for (uint8_t i=0; i<ARRAY_SIZE(_RBCI); i++) {
log_RBCI &RBCI = _RBCI[i];
const log_RBCI old_RBCI = RBCI;
const uint32_t last_update_ms = bcon->beacon_last_update_ms(i);
RBCI.last_update_ms = last_update_ms;
RBCI.last_update_ms = bcon->beacon_last_update_ms(i);
RBCI.position = bcon->beacon_position(i);
RBCI.distance = bcon->beacon_distance(i);
RBCI.healthy = bcon->beacon_healthy(i);

2
libraries/AP_DAL/AP_DAL_Beacon.h
View File

@ -10,7 +10,7 @@ class AP_DAL_Beacon {
public:
// Beacon-like methods:
bool count() const {
uint8_t count() const {
return _RBCH.count;
}