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

- Addional small cleanup of the iridium driver and the include guards of mavlink module header files

src/drivers/telemetry/iridiumsbd/IridiumSBD.h

@@ -88,7 +88,6 @@ extern "C" __EXPORT int iridiumsbd_main(int argc, char *argv[]);
 #define SATCOM_RX_MSG_BUF_LEN			270		// RX buffer size for MT messages
 #define SATCOM_RX_COMMAND_BUF_LEN		50		// RX buffer size for other commands
 #define SATCOM_SIGNAL_REFRESH_DELAY		20000000 // update signal quality every 20s
-#define MAVLINK_PACKAGE_START		254 // The value of the first byte of the mavlink header
 
 /**
  * The driver for the Rockblock 9602 and 9603 RockBlock module for satellite communication over the Iridium satellite system.
@@ -308,14 +307,14 @@ private:
 	char _test_command[32];
 	hrt_abstime _test_timer = 0;
 
-	uint8_t _rx_command_buf[SATCOM_RX_COMMAND_BUF_LEN] = {0};
+	uint8_t _rx_command_buf[SATCOM_RX_COMMAND_BUF_LEN] = {};
 	int _rx_command_len = 0;
 
-	uint8_t _rx_msg_buf[SATCOM_RX_MSG_BUF_LEN] = {0};
+	uint8_t _rx_msg_buf[SATCOM_RX_MSG_BUF_LEN] = {};
 	int _rx_msg_end_idx = 0;
 	int _rx_msg_read_idx = 0;
 
-	uint8_t _tx_buf[SATCOM_TX_BUF_LEN] = {0};
+	uint8_t _tx_buf[SATCOM_TX_BUF_LEN] = {};
 	int _tx_buf_write_idx = 0;
 
 	bool _tx_buf_write_pending = false;

src/modules/mavlink/mavlink_high_latency2.cpp

@@ -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);
+		int32_t latitude, longitude;
-		convert_limit_safe(global_pos.lon * 1e7, &msg->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;

src/modules/mavlink/mavlink_high_latency2.h

@@ -37,14 +37,13 @@
  * @author Achermann Florian <acfloria@ethz.ch>
  */
 
+#pragma once
+
 #include "mavlink_main.h"
 #include "mavlink_messages.h"
 #include "mavlink_simple_analyzer.h"
 #include "mavlink_stream.h"
 
-#ifndef MAVLINK_HIGH_LATENCY2_H_
-#define MAVLINK_HIGH_LATENCY2_H_
-
 class MavlinkStreamHighLatency2 : public MavlinkStream
 {
 public:
@@ -197,5 +196,3 @@ protected:
 
 	void set_default_values(mavlink_high_latency2_t &msg) const;
 };
-
-#endif /* MAVLINK_HIGH_LATENCY2_H_ */

src/modules/mavlink/mavlink_simple_analyzer.h

@@ -37,8 +37,7 @@
  * @author Achermann Florian <acfloria@ethz.ch>
  */
 
-#ifndef MAVLINK_SIMPLE_ANALYZER_H_
+#pragma once
-#define MAVLINK_SIMPLE_ANALYZER_H_
 
 #include <limits>
 
@@ -137,17 +136,15 @@ private:
 };
 
 template<typename Tin, typename Tout>
-void convert_limit_safe(Tin in, Tout *out)
+void convert_limit_safe(Tin in, Tout &out)
 {
 	if (in > std::numeric_limits<Tout>::max()) {
-		*out = std::numeric_limits<Tout>::max();
+		out = std::numeric_limits<Tout>::max();
 
 	} else if (in < std::numeric_limits<Tout>::min()) {
-		*out = std::numeric_limits<Tout>::min();
+		out = std::numeric_limits<Tout>::min();
 
 	} else {
-		*out = static_cast<Tout>(in);
+		out = static_cast<Tout>(in);
 	}
 }
-
-#endif /* MAVLINK_SIMPLE_ANALYZER_H_ */