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mavlink: new args to request message, omit param1 

We can omit param1 because it is already used for the message_id, so
it's basically duplicate information and won't get used anywhere.
This commit is contained in:
Julian Oes 2020-05-28 11:15:15 +02:00
parent 27b6c209e0
commit b4cbd93b7c
7 changed files with 17 additions and 13 deletions
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16
src/modules/mavlink/mavlink_receiver.cpp
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@ -430,7 +430,11 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
get_message_interval((int)roundf(cmd_mavlink.param1));
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_MESSAGE) {
result = handle_request_message_command(vehicle_command);
uint16_t message_id = (uint16_t)roundf(vehicle_command.param1);
result = handle_request_message_command(message_id,
vehicle_command.param2, vehicle_command.param3, vehicle_command.param4,
vehicle_command.param5, vehicle_command.param6, vehicle_command.param7);
} else if (cmd_mavlink.command == MAV_CMD_SET_CAMERA_ZOOM) {
struct actuator_controls_s actuator_controls = {};
@ -494,17 +498,16 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
}
}
uint8_t MavlinkReceiver::handle_request_message_command(const vehicle_command_s &vehicle_command)
uint8_t MavlinkReceiver::handle_request_message_command(uint16_t message_id, float param2, float param3, float param4,
float param5, float param6, float param7)
{
uint16_t message_id = (uint16_t)roundf(vehicle_command.param1);
bool stream_found = false;
uint8_t result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
for (const auto stream : _mavlink->get_streams()) {
if (stream->get_id() == message_id) {
stream_found = stream->request_message(vehicle_command.param1, vehicle_command.param2, vehicle_command.param3,
vehicle_command.param4, vehicle_command.param5, vehicle_command.param6, vehicle_command.param7);
stream_found = stream->request_message(param2, param3, param4, param5, param6, param7);
break;
}
}
@ -516,8 +519,7 @@ uint8_t MavlinkReceiver::handle_request_message_command(const vehicle_command_s
result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
} else {
bool message_sent = stream->request_message(vehicle_command.param1, vehicle_command.param2, vehicle_command.param3,
vehicle_command.param4, vehicle_command.param5, vehicle_command.param6, vehicle_command.param7);
bool message_sent = stream->request_message(param2, param3, param4, param5, param6, param7);
if (!message_sent) {
result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;

4
src/modules/mavlink/mavlink_receiver.h
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@ -129,7 +129,9 @@ private:
void handle_message_command_both(mavlink_message_t *msg, const T &cmd_mavlink,
const vehicle_command_s &vehicle_command);
uint8_t handle_request_message_command(const vehicle_command_s &vehicle_command);
uint8_t handle_request_message_command(uint16_t message_id, float param2 = 0.0f, float param3 = 0.0f,
float param4 = 0.0f,
float param5 = 0.0f, float param6 = 0.0f, float param7 = 0.0f);
void handle_message(mavlink_message_t *msg);

2
src/modules/mavlink/mavlink_stream.h
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@ -96,7 +96,7 @@ public:
* This function is called in response to a MAV_CMD_REQUEST_MESSAGE command. The default implementation is to
* just reset the counter to immediately send one message.
*/
virtual bool request_message(float param1 = 0.0, float param2 = 0.0, float param3 = 0.0, float param4 = 0.0,
virtual bool request_message(float param2 = 0.0, float param3 = 0.0, float param4 = 0.0,
float param5 = 0.0, float param6 = 0.0, float param7 = 0.0)
{
reset_last_sent();

2
src/modules/mavlink/streams/autopilot_version.h
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@ -36,7 +36,7 @@ public:
return MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
bool request_message(float param1, float param2, float param3, float param4,
bool request_message(float param2, float param3, float param4,
float param5, float param6, float param7) override
{
return send(hrt_absolute_time());

2
src/modules/mavlink/streams/flight_information.h
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@ -38,7 +38,7 @@ public:
return MAVLINK_MSG_ID_FLIGHT_INFORMATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
bool request_message(float param1, float param2, float param3, float param4,
bool request_message(float param2, float param3, float param4,
float param5, float param6, float param7) override
{
return send(hrt_absolute_time());

2
src/modules/mavlink/streams/protocol_version.h
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@ -36,7 +36,7 @@ public:
return MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
bool request_message(float param1, float param2, float param3, float param4,
bool request_message(float param2, float param3, float param4,
float param5, float param6, float param7) override
{
return send(hrt_absolute_time());

2
src/modules/mavlink/streams/storage_information.h
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@ -45,7 +45,7 @@ public:
return MAVLINK_MSG_ID_STORAGE_INFORMATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
bool request_message(float param1, float param2, float param3, float param4,
bool request_message(float param2, float param3, float param4,
float param5, float param6, float param7) override
{
storage_id = (int)roundf(param2);