dataman: use DM_KEY_WAYPOINTS_OFFBOARD() macro everywhere

src/modules/mavlink/mavlink_mission.cpp

@@ -216,7 +216,7 @@ MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_
 void
 MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq)
 {
-	dm_item_t dm_item = _dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1;
+	dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_dataman_id);
 	struct mission_item_s mission_item;
 
 	if (dm_read(dm_item, seq, &mission_item, sizeof(struct mission_item_s)) == sizeof(struct mission_item_s)) {
@@ -650,7 +650,7 @@ MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg)
 			return;
 		}
 
-		dm_item_t dm_item = _transfer_dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1;
+		dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_transfer_dataman_id);
 
 		if (dm_write(dm_item, wp.seq, DM_PERSIST_POWER_ON_RESET, &mission_item, sizeof(struct mission_item_s)) != sizeof(struct mission_item_s)) {
 			if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, _transfer_dataman_id); }

src/modules/navigator/mission.cpp

@@ -201,19 +201,11 @@ Mission::update_offboard_mission()
 
 		/* Check mission feasibility, for now do not handle the return value,
 		 * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
-		dm_item_t dm_current;
+		dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_transfer_dataman_id);
 
-		if (_offboard_mission.dataman_id == 0) {
-			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
-
-		} else {
-			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
-		}
-
-		missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing, dm_current,
-			                                      (size_t)_offboard_mission.count,
-							      _navigator->get_geofence(),
-							      _navigator->get_home_position()->alt);
+		missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing,
+				dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
+				_navigator->get_home_position()->alt);
 
 	} else {
 		warnx("offboard mission update failed");
@@ -474,12 +466,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
 
 		mission = &_offboard_mission;
 
-		if (_offboard_mission.dataman_id == 0) {
-			dm_item = DM_KEY_WAYPOINTS_OFFBOARD_0;
-
-		} else {
-			dm_item = DM_KEY_WAYPOINTS_OFFBOARD_1;
-		}
+		dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
 	}
 
 	if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) {