AC_PrecLand: pass mavlink_message_t by const reference

libraries/AC_PrecLand/AC_PrecLand.cpp

@@ -251,7 +251,7 @@ bool AC_PrecLand::get_target_velocity_relative_cms(Vector2f& ret)
 }
 
 // handle_msg - Process a LANDING_TARGET mavlink message
-void AC_PrecLand::handle_msg(mavlink_message_t* msg)
+void AC_PrecLand::handle_msg(const mavlink_message_t &msg)
 {
     // run backend update
     if (_backend != nullptr) {

libraries/AC_PrecLand/AC_PrecLand.h

@@ -86,7 +86,7 @@ public:
     bool target_acquired();
 
     // process a LANDING_TARGET mavlink message
-    void handle_msg(mavlink_message_t* msg);
+    void handle_msg(const mavlink_message_t &msg);
 
     // parameter var table
     static const struct AP_Param::GroupInfo var_info[];

libraries/AC_PrecLand/AC_PrecLand_Backend.h

@@ -35,7 +35,7 @@ public:
     virtual float distance_to_target() { return 0.0f; };
 
     // parses a mavlink message from the companion computer
-    virtual void handle_msg(mavlink_message_t* msg) {};
+    virtual void handle_msg(const mavlink_message_t &msg) {};
 
     // get bus parameter
     int8_t get_bus(void) const { return _frontend._bus.get(); }

libraries/AC_PrecLand/AC_PrecLand_Companion.cpp

@@ -42,11 +42,11 @@ float AC_PrecLand_Companion::distance_to_target()
     return _distance_to_target;
 }
 
-void AC_PrecLand_Companion::handle_msg(mavlink_message_t* msg)
+void AC_PrecLand_Companion::handle_msg(const mavlink_message_t &msg)
 {
     // parse mavlink message
     __mavlink_landing_target_t packet;
-    mavlink_msg_landing_target_decode(msg, &packet);
+    mavlink_msg_landing_target_decode(&msg, &packet);
 
     _timestamp_us = packet.time_usec;
     _distance_to_target = packet.distance;

libraries/AC_PrecLand/AC_PrecLand_Companion.h

@@ -36,7 +36,7 @@ public:
     float distance_to_target() override;
 
     // parses a mavlink message from the companion computer
-    void handle_msg(mavlink_message_t* msg) override;
+    void handle_msg(const mavlink_message_t &msg) override;
 
 private:
     uint64_t            _timestamp_us;          // timestamp from message