AntennaTracker: pass mavlink_message_t by const reference

AntennaTracker/GCS_Mavlink.cpp

@@ -294,7 +294,7 @@ const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
   MAVLINK_MSG_ID_SCALED_PRESSUREs
 */
 void GCS_MAVLINK_Tracker::packetReceived(const mavlink_status_t &status,
-                                         mavlink_message_t &msg)
+                                         const mavlink_message_t &msg)
 {
     // return immediately if sysid doesn't match our target sysid
     if ((tracker.g.sysid_target != 0) && (tracker.g.sysid_target != msg.sysid)) {
@@ -420,16 +420,16 @@ bool GCS_MAVLINK_Tracker::set_home(const Location& loc, bool lock) {
     return tracker.set_home(loc);
 }
 
-void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
+void GCS_MAVLINK_Tracker::handleMessage(const mavlink_message_t &msg)
 {
-    switch (msg->msgid) {
+    switch (msg.msgid) {
 
     // When mavproxy 'wp sethome' 
     case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
     {
         // decode
         mavlink_mission_write_partial_list_t packet;
-        mavlink_msg_mission_write_partial_list_decode(msg, &packet);
+        mavlink_msg_mission_write_partial_list_decode(&msg, &packet);
         if (packet.start_index == 0)
         {
             // New home at wp index 0. Ask for it
@@ -446,7 +446,7 @@ void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
         mavlink_mission_item_t packet;
         MAV_MISSION_RESULT result = MAV_MISSION_ACCEPTED;
 
-        mavlink_msg_mission_item_decode(msg, &packet);
+        mavlink_msg_mission_item_decode(&msg, &packet);
 
         struct Location tell_command;
 
@@ -528,8 +528,8 @@ mission_failed:
         // we are rejecting the mission/waypoint
         mavlink_msg_mission_ack_send(
             chan,
-            msg->sysid,
-            msg->compid,
+            msg.sysid,
+            msg.compid,
             result,
             MAV_MISSION_TYPE_MISSION);
         break;
@@ -538,7 +538,7 @@ mission_failed:
     case MAVLINK_MSG_ID_MANUAL_CONTROL:
     {
         mavlink_manual_control_t packet;
-        mavlink_msg_manual_control_decode(msg, &packet);
+        mavlink_msg_manual_control_decode(&msg, &packet);
         tracker.tracking_manual_control(packet);
         break;
     }
@@ -547,7 +547,7 @@ mission_failed:
     {
         // decode
         mavlink_global_position_int_t packet;
-        mavlink_msg_global_position_int_decode(msg, &packet);
+        mavlink_msg_global_position_int_decode(&msg, &packet);
         tracker.tracking_update_position(packet);
         break;
     }
@@ -556,7 +556,7 @@ mission_failed:
     {
         // decode
         mavlink_scaled_pressure_t packet;
-        mavlink_msg_scaled_pressure_decode(msg, &packet);
+        mavlink_msg_scaled_pressure_decode(&msg, &packet);
         tracker.tracking_update_pressure(packet);
         break;
     }
@@ -649,7 +649,7 @@ void GCS_MAVLINK_Tracker::send_global_position_int()
 
 
 /* dummy methods to avoid having to link against AP_Camera */
-void AP_Camera::control_msg(mavlink_message_t const*) {}
+void AP_Camera::control_msg(const mavlink_message_t &) {}
 void AP_Camera::configure(float, float, float, float, float, float, float) {}
 void AP_Camera::control(float, float, float, float, float, float) {}
 void AP_Camera::send_feedback(mavlink_channel_t chan) {}

AntennaTracker/GCS_Mavlink.h

@@ -34,9 +34,9 @@ protected:
 
 private:
 
-    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;
     void mavlink_check_target(const mavlink_message_t &msg);
-    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 send_global_position_int() override;