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gps & mavlink receiver: use C arrays instead of std::array<>

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This commit is contained in:
Beat Küng
2016-04-25 09:48:24 +02:00
committed by Lorenz Meier
parent 4cf08ba580
commit 6029551c63
3 changed files with 11 additions and 11 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+4 -3
View File
@@ -125,7 +125,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_time_offset_pub(nullptr),
_follow_target_pub(nullptr),
_transponder_report_pub(nullptr),
_gps_inject_data_pub(),
_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
_hil_frames(0),
_old_timestamp(0),
@@ -144,7 +143,9 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_mom_switch_pos{},
_mom_switch_state(0)
{
_gps_inject_data_pub.fill(nullptr);
for (int i = 0; i < _gps_inject_data_pub_size; ++i) {
_gps_inject_data_pub[i] = nullptr;
}
}
MavlinkReceiver::~MavlinkReceiver()
@@ -1784,7 +1785,7 @@ void MavlinkReceiver::handle_message_gps_inject_data(mavlink_message_t *msg)
orb_publish(ORB_ID(gps_inject_data), pub, &gps_inject_data_topic);
}
_gps_inject_data_next_idx = (_gps_inject_data_next_idx + 1) % _gps_inject_data_pub.size();
_gps_inject_data_next_idx = (_gps_inject_data_next_idx + 1) % _gps_inject_data_pub_size;
}
src/modules/mavlink/mavlink_receiver.h
+2 -3
View File
@@ -78,8 +78,6 @@
#include <uORB/topics/transponder_report.h>
#include <uORB/topics/gps_inject_data.h>
#include <array>
#include "mavlink_ftp.h"
#define PX4_EPOCH_SECS 1234567890ULL
@@ -207,7 +205,8 @@ private:
orb_advert_t _time_offset_pub;
orb_advert_t _follow_target_pub;
orb_advert_t _transponder_report_pub;
std::array<orb_advert_t, 4> _gps_inject_data_pub;
static const int _gps_inject_data_pub_size = 4;
orb_advert_t _gps_inject_data_pub[_gps_inject_data_pub_size];
int _gps_inject_data_next_idx = 0;
int _control_mode_sub;
int _hil_frames;