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Mavlink: Don't use a packed struct as input for the convert_limit_safe function

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- Addional small cleanup of the iridium driver and the include guards of mavlink module header files
This commit is contained in:
acfloria
2018-04-11 13:07:22 +02:00
committed by Beat Küng
parent 477a4e7ec8
commit 0caa4dc171
4 changed files with 31 additions and 24 deletions
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src/modules/mavlink/mavlink_high_latency2.cpp
+21 -7
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@@ -134,7 +134,10 @@ bool MavlinkStreamHighLatency2::send(const hrt_abstime t)
updated |= write_wind_estimate(&msg);
if (updated) {
convert_limit_safe(t / 1000, &msg.timestamp);
uint32_t timestamp;
convert_limit_safe(t / 1000, timestamp);
msg.timestamp = timestamp;
msg.type = _mavlink->get_system_type();
msg.autopilot = MAV_AUTOPILOT_PX4;
@@ -280,7 +283,9 @@ bool MavlinkStreamHighLatency2::write_fw_ctrl_status(mavlink_high_latency2_t *ms
const bool updated = _fw_pos_ctrl_status_sub->update(&_fw_pos_ctrl_status_time, &fw_pos_ctrl_status);
if (_fw_pos_ctrl_status_time > 0) {
convert_limit_safe(fw_pos_ctrl_status.wp_dist * 0.1f, &msg->target_distance);
uint16_t target_distance;
convert_limit_safe(fw_pos_ctrl_status.wp_dist * 0.1f, target_distance);
msg->target_distance = target_distance;
}
return updated;
@@ -308,16 +313,23 @@ bool MavlinkStreamHighLatency2::write_global_position(mavlink_high_latency2_t *m
const bool updated = _global_pos_sub->update(&_global_pos_time, &global_pos);
if (_global_pos_time > 0) {
convert_limit_safe(global_pos.lat * 1e7, &msg->latitude);
convert_limit_safe(global_pos.lon * 1e7, &msg->longitude);
int32_t latitude, longitude;
convert_limit_safe(global_pos.lat * 1e7, latitude);
convert_limit_safe(global_pos.lon * 1e7, longitude);
msg->latitude = latitude;
msg->longitude = longitude;
int16_t altitude;
if (global_pos.alt > 0) {
convert_limit_safe(global_pos.alt + 0.5f, &msg->altitude);
convert_limit_safe(global_pos.alt + 0.5f, altitude);
} else {
convert_limit_safe(global_pos.alt - 0.5f, &msg->altitude);
convert_limit_safe(global_pos.alt - 0.5f, altitude);
}
msg->altitude = altitude;
msg->heading = static_cast<uint8_t>(math::degrees(_wrap_2pi(global_pos.yaw)) * 0.5f);
}
@@ -344,7 +356,9 @@ bool MavlinkStreamHighLatency2::write_tecs_status(mavlink_high_latency2_t *msg)
const bool updated = _tecs_status_sub->update(&_tecs_time, &tecs_status);
if (_tecs_time > 0) {
convert_limit_safe(tecs_status.altitudeSp, &msg->target_altitude);
int16_t target_altitude;
convert_limit_safe(tecs_status.altitudeSp, target_altitude);
msg->target_altitude = target_altitude;
}
return updated;