fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-29 08:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink: Optimize to native types where possible, move things to optimize alignment

Browse Source
This commit is contained in:
Lorenz Meier
2014-07-12 18:43:09 +02:00
parent ffebe45c4c
commit 0144a7dacf
2 changed files with 9 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_mission.cpp
+3 -3
View File
@@ -61,8 +61,6 @@ static const int ERROR = -1;
MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
_mavlink(mavlink), _mavlink(mavlink),
_channel(mavlink->get_channel()),
_comp_id(MAV_COMP_ID_MISSIONPLANNER),
_state(MAVLINK_WPM_STATE_IDLE), _state(MAVLINK_WPM_STATE_IDLE),
_time_last_recv(0), _time_last_recv(0),
_time_last_sent(0), _time_last_sent(0),
@@ -82,7 +80,9 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
_mission_result_sub(-1), _mission_result_sub(-1),
_offboard_mission_pub(-1), _offboard_mission_pub(-1),
_slow_rate_limiter(2000000.0f / mavlink->get_rate_mult()), _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)); _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
_mission_result_sub = orb_subscribe(ORB_ID(mission_result)); _mission_result_sub = orb_subscribe(ORB_ID(mission_result));
src/modules/mavlink/mavlink_mission.h
+6 -5
View File
@@ -143,8 +143,6 @@ public:
private: private:
Mavlink* _mavlink; Mavlink* _mavlink;
mavlink_channel_t _channel;
uint8_t _comp_id;
enum MAVLINK_WPM_STATES _state; ///< Current state enum MAVLINK_WPM_STATES _state; ///< Current state
@@ -153,7 +151,7 @@ private:
uint32_t _action_timeout; uint32_t _action_timeout;
uint32_t _retry_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 int _dataman_id; ///< Dataman storage ID for active mission
unsigned _count; ///< Count of items in 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_count; ///< Items count in current transmission
unsigned _transfer_seq; ///< Item sequence 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) unsigned _transfer_current_seq; ///< Current item ID for current transmission (-1 means not initialized)
uint8_t _transfer_partner_sysid; ///< Partener SysID for current transmission unsigned _transfer_partner_sysid; ///< Partner system ID for current transmission
uint8_t _transfer_partner_compid; ///< Partner ComponentID for current transmission unsigned _transfer_partner_compid; ///< Partner component ID for current transmission
int _offboard_mission_sub; int _offboard_mission_sub;
int _mission_result_sub; int _mission_result_sub;
@@ -173,4 +171,7 @@ private:
MavlinkRateLimiter _slow_rate_limiter; MavlinkRateLimiter _slow_rate_limiter;
bool _verbose; bool _verbose;
mavlink_channel_t _channel;
uint8_t _comp_id;
}; };