From 0144a7dacfdb398c6133a9bf2df35facdbdfe6e3 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 12 Jul 2014 18:43:09 +0200 Subject: [PATCH] mavlink: Optimize to native types where possible, move things to optimize alignment --- src/modules/mavlink/mavlink_mission.cpp | 6 +++--- src/modules/mavlink/mavlink_mission.h | 11 ++++++----- 2 files changed, 9 insertions(+), 8 deletions(-) diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index a62d34019a..068774c471 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -61,8 +61,6 @@ static const int ERROR = -1; MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : _mavlink(mavlink), - _channel(mavlink->get_channel()), - _comp_id(MAV_COMP_ID_MISSIONPLANNER), _state(MAVLINK_WPM_STATE_IDLE), _time_last_recv(0), _time_last_sent(0), @@ -82,7 +80,9 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : _mission_result_sub(-1), _offboard_mission_pub(-1), _slow_rate_limiter(2000000.0f / mavlink->get_rate_mult()), - _verbose(false) + _verbose(false), + _channel(mavlink->get_channel()), + _comp_id(MAV_COMP_ID_MISSIONPLANNER) { _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission)); _mission_result_sub = orb_subscribe(ORB_ID(mission_result)); diff --git a/src/modules/mavlink/mavlink_mission.h b/src/modules/mavlink/mavlink_mission.h index 1964a45e8e..f63c32f243 100644 --- a/src/modules/mavlink/mavlink_mission.h +++ b/src/modules/mavlink/mavlink_mission.h @@ -143,8 +143,6 @@ public: private: Mavlink* _mavlink; - mavlink_channel_t _channel; - uint8_t _comp_id; enum MAVLINK_WPM_STATES _state; ///< Current state @@ -153,7 +151,7 @@ private: uint32_t _action_timeout; uint32_t _retry_timeout; - unsigned _max_count; ///< Maximal count of mission items + unsigned _max_count; ///< Maximum number of mission items int _dataman_id; ///< Dataman storage ID for active mission unsigned _count; ///< Count of items in active mission @@ -163,8 +161,8 @@ private: unsigned _transfer_count; ///< Items count in current transmission unsigned _transfer_seq; ///< Item sequence in current transmission unsigned _transfer_current_seq; ///< Current item ID for current transmission (-1 means not initialized) - uint8_t _transfer_partner_sysid; ///< Partener SysID for current transmission - uint8_t _transfer_partner_compid; ///< Partner ComponentID for current transmission + unsigned _transfer_partner_sysid; ///< Partner system ID for current transmission + unsigned _transfer_partner_compid; ///< Partner component ID for current transmission int _offboard_mission_sub; int _mission_result_sub; @@ -173,4 +171,7 @@ private: MavlinkRateLimiter _slow_rate_limiter; bool _verbose; + + mavlink_channel_t _channel; + uint8_t _comp_id; };