From c78b1ab3bfe4503e44d1d61ea3b9c4163a4c9af8 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 31 Mar 2020 14:41:54 +0900
Subject: [PATCH] AP_VisualOdom: rename handle_vision_position_delta_msg

---
 libraries/AP_VisualOdom/AP_VisualOdom.cpp       | 6 +++---
 libraries/AP_VisualOdom/AP_VisualOdom.h         | 4 ++--
 libraries/AP_VisualOdom/AP_VisualOdom_Backend.h | 4 ++--
 libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp   | 4 ++--
 libraries/AP_VisualOdom/AP_VisualOdom_MAV.h     | 4 ++--
 5 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_VisualOdom/AP_VisualOdom.cpp b/libraries/AP_VisualOdom/AP_VisualOdom.cpp
index 7d41ec330d..7780dc242d 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom.cpp
@@ -106,8 +106,8 @@ bool AP_VisualOdom::healthy() const
     return _driver->healthy();
 }
 
-// consume VISION_POSITION_DELTA MAVLink message
-void AP_VisualOdom::handle_msg(const mavlink_message_t &msg)
+// consume vision_position_delta mavlink messages
+void AP_VisualOdom::handle_vision_position_delta_msg(const mavlink_message_t &msg)
 {
     // exit immediately if not enabled
     if (!enabled()) {
@@ -116,7 +116,7 @@ void AP_VisualOdom::handle_msg(const mavlink_message_t &msg)
 
     // call backend
     if (_driver != nullptr) {
-        _driver->handle_msg(msg);
+        _driver->handle_vision_position_delta_msg(msg);
     }
 }
 
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom.h b/libraries/AP_VisualOdom/AP_VisualOdom.h
index bad93de03e..83e30c68d4 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom.h
@@ -55,8 +55,8 @@ public:
     // return a 3D vector defining the position offset of the camera in meters relative to the body frame origin
     const Vector3f &get_pos_offset(void) const { return _pos_offset; }
 
-    // consume data from MAVLink messages
-    void handle_msg(const mavlink_message_t &msg);
+    // consume vision_position_delta mavlink messages
+    void handle_vision_position_delta_msg(const mavlink_message_t &msg);
 
     // general purpose methods to consume position estimate data and send to EKF
     // distances in meters, roll, pitch and yaw are in radians
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
index 1e031d46bd..724f43fda5 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
@@ -28,8 +28,8 @@ public:
 	// return true if sensor is basically healthy (we are receiving data)
 	bool healthy() const;
 
-    // consume VISION_POSITION_DELTA MAVLink message
-	virtual void handle_msg(const mavlink_message_t &msg) {};
+	// consume vision_position_delta mavlink messages
+	virtual void handle_vision_position_delta_msg(const mavlink_message_t &msg) {};
 
 	// general purpose methods to consume position estimate data and send to EKF
 	// distances in meters, roll, pitch and yaw are in radians
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
index 255b478ab3..c752567be9 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
@@ -26,8 +26,8 @@ AP_VisualOdom_MAV::AP_VisualOdom_MAV(AP_VisualOdom &frontend) :
 {
 }
 
-// consume VISION_POSITION_DELTA MAVLink message
-void AP_VisualOdom_MAV::handle_msg(const mavlink_message_t &msg)
+// consume vision_position_delta mavlink messages
+void AP_VisualOdom_MAV::handle_vision_position_delta_msg(const mavlink_message_t &msg)
 {
     // decode message
     mavlink_vision_position_delta_t packet;
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_MAV.h b/libraries/AP_VisualOdom/AP_VisualOdom_MAV.h
index f1a6fe7474..8aa039cc91 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_MAV.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_MAV.h
@@ -9,6 +9,6 @@ public:
     // constructor
     AP_VisualOdom_MAV(AP_VisualOdom &frontend);
 
-    // consume VISION_POSITION_DELTA MAVLink message
-    void handle_msg(const mavlink_message_t &msg) override;
+    // consume vision_position_delta mavlink messages
+    void handle_vision_position_delta_msg(const mavlink_message_t &msg) override;
 };