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refator mavlink: prefix class members with _

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This commit is contained in:
Beat Küng
2017-05-12 10:59:28 +02:00
committed by Lorenz Meier
parent ef5bc526de
commit 2c548f84a7
3 changed files with 38 additions and 36 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+29 -29
View File
@@ -93,9 +93,9 @@ static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f;
MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_mavlink(parent),
status{},
hil_local_pos{},
hil_land_detector{},
_status{},
_hil_local_pos{},
_hil_land_detector{},
_control_mode{},
_global_pos_pub(nullptr),
_local_pos_pub(nullptr),
@@ -2182,36 +2182,36 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
_hil_local_proj_inited = true;
_hil_local_alt0 = hil_state.alt / 1000.0f;
map_projection_init(&_hil_local_proj_ref, lat, lon);
hil_local_pos.ref_timestamp = timestamp;
hil_local_pos.ref_lat = lat;
hil_local_pos.ref_lon = lon;
hil_local_pos.ref_alt = _hil_local_alt0;
_hil_local_pos.ref_timestamp = timestamp;
_hil_local_pos.ref_lat = lat;
_hil_local_pos.ref_lon = lon;
_hil_local_pos.ref_alt = _hil_local_alt0;
}
float x = 0.0f;
float y = 0.0f;
map_projection_project(&_hil_local_proj_ref, lat, lon, &x, &y);
hil_local_pos.timestamp = timestamp;
hil_local_pos.xy_valid = true;
hil_local_pos.z_valid = true;
hil_local_pos.v_xy_valid = true;
hil_local_pos.v_z_valid = true;
hil_local_pos.x = x;
hil_local_pos.y = y;
hil_local_pos.z = _hil_local_alt0 - hil_state.alt / 1000.0f;
hil_local_pos.vx = hil_state.vx / 100.0f;
hil_local_pos.vy = hil_state.vy / 100.0f;
hil_local_pos.vz = hil_state.vz / 100.0f;
_hil_local_pos.timestamp = timestamp;
_hil_local_pos.xy_valid = true;
_hil_local_pos.z_valid = true;
_hil_local_pos.v_xy_valid = true;
_hil_local_pos.v_z_valid = true;
_hil_local_pos.x = x;
_hil_local_pos.y = y;
_hil_local_pos.z = _hil_local_alt0 - hil_state.alt / 1000.0f;
_hil_local_pos.vx = hil_state.vx / 100.0f;
_hil_local_pos.vy = hil_state.vy / 100.0f;
_hil_local_pos.vz = hil_state.vz / 100.0f;
matrix::Eulerf euler = matrix::Quatf(hil_attitude.q);
hil_local_pos.yaw = euler.psi();
hil_local_pos.xy_global = true;
hil_local_pos.z_global = true;
_hil_local_pos.yaw = euler.psi();
_hil_local_pos.xy_global = true;
_hil_local_pos.z_global = true;
if (_local_pos_pub == nullptr) {
_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos);
_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &_hil_local_pos);
} else {
orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &hil_local_pos);
orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &_hil_local_pos);
}
}
@@ -2219,15 +2219,15 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
{
bool landed = (float)(hil_state.alt) / 1000.0f < (_hil_local_alt0 + 0.1f); // XXX improve?
if (hil_land_detector.landed != landed) {
hil_land_detector.landed = landed;
hil_land_detector.timestamp = hrt_absolute_time();
if (_hil_land_detector.landed != landed) {
_hil_land_detector.landed = landed;
_hil_land_detector.timestamp = hrt_absolute_time();
if (_land_detector_pub == nullptr) {
_land_detector_pub = orb_advertise(ORB_ID(vehicle_land_detected), &hil_land_detector);
_land_detector_pub = orb_advertise(ORB_ID(vehicle_land_detected), &_hil_land_detector);
} else {
orb_publish(ORB_ID(vehicle_land_detected), _land_detector_pub, &hil_land_detector);
orb_publish(ORB_ID(vehicle_land_detected), _land_detector_pub, &_hil_land_detector);
}
}
}
@@ -2434,7 +2434,7 @@ MavlinkReceiver::receive_thread(void *arg)
if (_mavlink->get_client_source_initialized()) {
/* if read failed, this loop won't execute */
for (ssize_t i = 0; i < nread; i++) {
if (mavlink_parse_char(_mavlink->get_channel(), buf[i], &msg, &status)) {
if (mavlink_parse_char(_mavlink->get_channel(), buf[i], &msg, &_status)) {
/* check if we received version 2 and request a switch. */
if (!(_mavlink->get_status()->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1)) {
src/modules/mavlink/mavlink_receiver.h
+8 -6
View File
@@ -111,6 +111,9 @@ public:
*/
void print_status();
/**
* Start the receiver thread
*/
static void receive_start(pthread_t *thread, Mavlink *parent);
static void *start_helper(void *context);
@@ -192,9 +195,9 @@ private:
bool evaluate_target_ok(int command, int target_system, int target_component);
Mavlink *_mavlink;
mavlink_status_t status;
struct vehicle_local_position_s hil_local_pos;
struct vehicle_land_detected_s hil_land_detector;
mavlink_status_t _status; ///< receiver status, used for mavlink_parse_char()
struct vehicle_local_position_s _hil_local_pos;
struct vehicle_land_detected_s _hil_land_detector;
struct vehicle_control_mode_s _control_mode;
orb_advert_t _global_pos_pub;
orb_advert_t _local_pos_pub;
@@ -257,7 +260,6 @@ private:
param_t _p_bat_crit_thr;
param_t _p_bat_low_thr;
/* do not allow copying this class */
MavlinkReceiver(const MavlinkReceiver &);
MavlinkReceiver operator=(const MavlinkReceiver &);
MavlinkReceiver(const MavlinkReceiver &) = delete;
MavlinkReceiver operator=(const MavlinkReceiver &) = delete;
};
src/modules/mavlink/mavlink_stream.h
+1 -1
View File
@@ -98,7 +98,7 @@ public:
protected:
Mavlink *_mavlink;
unsigned int _interval; //<<< if set to zero = unlimited rate
unsigned int _interval; ///< if set to zero = unlimited rate
#ifndef __PX4_QURT
virtual void send(const hrt_abstime t) = 0;