ArduPlane: pass mavlink_message_t by const reference

ArduPlane/GCS_Mavlink.cpp

@@ -701,7 +701,7 @@ MAV_RESULT GCS_MAVLINK_Plane::_handle_command_preflight_calibration(const mavlin
 }
 
 void GCS_MAVLINK_Plane::packetReceived(const mavlink_status_t &status,
-                                        mavlink_message_t &msg)
+                                       const mavlink_message_t &msg)
 {
     plane.avoidance_adsb.handle_msg(msg);
     GCS_MAVLINK::packetReceived(status, msg);
@@ -1007,15 +1007,15 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
     }
 }
 
-void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
+void GCS_MAVLINK_Plane::handleMessage(const mavlink_message_t &msg)
 {
-    switch (msg->msgid) {
+    switch (msg.msgid) {
 
 #if GEOFENCE_ENABLED == ENABLED
     // receive a fence point from GCS and store in EEPROM
     case MAVLINK_MSG_ID_FENCE_POINT: {
         mavlink_fence_point_t packet;
-        mavlink_msg_fence_point_decode(msg, &packet);
+        mavlink_msg_fence_point_decode(&msg, &packet);
         if (plane.g.fence_action != FENCE_ACTION_NONE) {
             send_text(MAV_SEVERITY_WARNING,"Fencing must be disabled");
         } else if (packet.count != plane.g.fence_total) {
@@ -1031,12 +1031,12 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
     // send a fence point to GCS
     case MAVLINK_MSG_ID_FENCE_FETCH_POINT: {
         mavlink_fence_fetch_point_t packet;
-        mavlink_msg_fence_fetch_point_decode(msg, &packet);
+        mavlink_msg_fence_fetch_point_decode(&msg, &packet);
         if (packet.idx >= plane.g.fence_total) {
             send_text(MAV_SEVERITY_WARNING,"Bad fence point");
         } else {
             Vector2l point = plane.get_fence_point_with_index(packet.idx);
-            mavlink_msg_fence_point_send_buf(msg, chan, msg->sysid, msg->compid, packet.idx, plane.g.fence_total,
+            mavlink_msg_fence_point_send(chan, msg.sysid, msg.compid, packet.idx, plane.g.fence_total,
                                              point.x*1.0e-7f, point.y*1.0e-7f);
         }
         break;
@@ -1046,12 +1046,12 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
     
     case MAVLINK_MSG_ID_MANUAL_CONTROL:
     {
-        if (msg->sysid != plane.g.sysid_my_gcs) {
+        if (msg.sysid != plane.g.sysid_my_gcs) {
             break; // only accept control from our gcs
         }
 
         mavlink_manual_control_t packet;
-        mavlink_msg_manual_control_decode(msg, &packet);
+        mavlink_msg_manual_control_decode(&msg, &packet);
 
         if (packet.target != plane.g.sysid_this_mav) {
             break; // only accept messages aimed at us
@@ -1073,7 +1073,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
     {
         // We keep track of the last time we received a heartbeat from
         // our GCS for failsafe purposes
-        if (msg->sysid != plane.g.sysid_my_gcs) break;
+        if (msg.sysid != plane.g.sysid_my_gcs) break;
         plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
         break;
     }
@@ -1086,7 +1086,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
         }
 
         mavlink_hil_state_t packet;
-        mavlink_msg_hil_state_decode(msg, &packet);
+        mavlink_msg_hil_state_decode(&msg, &packet);
 
         // sanity check location
         if (!check_latlng(packet.lat, packet.lon)) {
@@ -1168,7 +1168,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
         }
 
         mavlink_set_attitude_target_t att_target;
-        mavlink_msg_set_attitude_target_decode(msg, &att_target);
+        mavlink_msg_set_attitude_target_decode(&msg, &att_target);
 
         // Mappings: If any of these bits are set, the corresponding input should be ignored.
         // NOTE, when parsing the bits we invert them for easier interpretation but transport has them inverted
@@ -1229,7 +1229,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
     case MAVLINK_MSG_ID_SET_HOME_POSITION:
     {
         mavlink_set_home_position_t packet;
-        mavlink_msg_set_home_position_decode(msg, &packet);
+        mavlink_msg_set_home_position_decode(&msg, &packet);
         Location new_home_loc {};
         new_home_loc.lat = packet.latitude;
         new_home_loc.lng = packet.longitude;
@@ -1245,7 +1245,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
     {
         // decode packet
         mavlink_set_position_target_local_ned_t packet;
-        mavlink_msg_set_position_target_local_ned_decode(msg, &packet);
+        mavlink_msg_set_position_target_local_ned_decode(&msg, &packet);
 
         // exit if vehicle is not in Guided mode
         if (plane.control_mode != &plane.mode_guided) {
@@ -1279,7 +1279,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
         }
 
         mavlink_set_position_target_global_int_t pos_target;
-        mavlink_msg_set_position_target_global_int_decode(msg, &pos_target);
+        mavlink_msg_set_position_target_global_int_decode(&msg, &pos_target);
         // Unexpectedly, the mask is expecting "ones" for dimensions that should
         // be IGNORNED rather than INCLUDED.  See mavlink documentation of the
         // SET_POSITION_TARGET_GLOBAL_INT message, type_mask field.
@@ -1332,7 +1332,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
 } // end handle mavlink
 
 // a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
-void GCS_MAVLINK_Plane::handle_rc_channels_override(const mavlink_message_t *msg)
+void GCS_MAVLINK_Plane::handle_rc_channels_override(const mavlink_message_t &msg)
 {
     plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
     GCS_MAVLINK::handle_rc_channels_override(msg);
@@ -1371,7 +1371,7 @@ void Plane::mavlink_delay_cb()
     logger.EnableWrites(true);
 }
 
-void GCS_MAVLINK_Plane::handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg)
+void GCS_MAVLINK_Plane::handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg)
 {
     plane.auto_state.next_wp_crosstrack = false;
     GCS_MAVLINK::handle_mission_set_current(mission, msg);

ArduPlane/GCS_Mavlink.h

@@ -12,7 +12,7 @@ protected:
 
     uint32_t telem_delay() const override;
 
-    void handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg) override;
+    void handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg) override;
 
     AP_AdvancedFailsafe *get_advanced_failsafe() const override;
 
@@ -46,12 +46,12 @@ private:
 
     void send_pid_info(const AP_Logger::PID_Info *pid_info, const uint8_t axis, const float achieved);
 
-    void handleMessage(mavlink_message_t * msg) override;
+    void handleMessage(const mavlink_message_t &msg) override;
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
     void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
-    void handle_rc_channels_override(const mavlink_message_t *msg) override;
+    void handle_rc_channels_override(const mavlink_message_t &msg) override;
     bool try_send_message(enum ap_message id) override;
-    void packetReceived(const mavlink_status_t &status, mavlink_message_t &msg) override;
+    void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override;
 
     MAV_MODE base_mode() const override;
     MAV_STATE system_status() const override;