From 0a159e1a2490e5ec7f368d938e2b0fd365d2731e Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 30 Jun 2014 12:31:29 +0200 Subject: [PATCH] mavlink, commander: bugs fixed --- src/modules/commander/commander.cpp | 2 +- src/modules/mavlink/mavlink_main.h | 10 ++-------- 2 files changed, 3 insertions(+), 9 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 0ff1195c94..bba14ea27d 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1407,7 +1407,7 @@ int commander_thread_main(int argc, char *argv[]) /* now set navigation state according to failsafe and main state */ bool nav_state_changed = set_nav_state(&status, (bool)datalink_loss_enabled, - mission_result.mission_finished); + mission_result.finished); // TODO handle mode changes by commands if (main_state_changed) { diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index b4184b21c2..67ef8d00f5 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -182,7 +182,7 @@ public: int send_statustext(const char *string); int send_statustext(enum MAV_SEVERITY severity, const char *string); - MavlinkStream * get_streams() { return _streams; } const + MavlinkStream * get_streams() const { return _streams; } float get_rate_mult(); @@ -193,7 +193,7 @@ public: bool get_wait_to_transmit() { return _wait_to_transmit; } bool should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); } - bool message_buffer_write(void *ptr, int size); + bool message_buffer_write(const void *ptr, int size); void lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); } void unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); } @@ -322,10 +322,6 @@ private: void mavlink_update_system(); - uint8_t get_system_id(); - - uint8_t get_component_id(); - int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); int configure_stream(const char *stream_name, const float rate); @@ -338,8 +334,6 @@ private: int message_buffer_is_empty(); - bool message_buffer_write(const void *ptr, int size); - int message_buffer_get_ptr(void **ptr, bool *is_part); void message_buffer_mark_read(int n);