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gimbal: make device ID a clear out argument

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The API is cleaner if the control_data is const reference and the device
compid is an explicit output argument.

Signed-off-by: Julian Oes <julian@oes.ch>
This commit is contained in:
Julian Oes
2023-05-08 07:06:37 +02:00
committed by Beat Küng
parent 3c45b184d3
commit 636c3c069f
6 changed files with 10 additions and 11 deletions
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src/modules/gimbal/output_mavlink.cpp
+3 -3
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@@ -46,7 +46,7 @@ OutputMavlinkV1::OutputMavlinkV1(const Parameters &parameters)
: OutputBase(parameters)
{}
void OutputMavlinkV1::update(ControlData &control_data, bool new_setpoints)
void OutputMavlinkV1::update(const ControlData &control_data, bool new_setpoints, uint8_t &gimbal_device_id)
{
vehicle_command_s vehicle_command{};
vehicle_command.timestamp = hrt_absolute_time();
@@ -142,7 +142,7 @@ OutputMavlinkV2::OutputMavlinkV2(const Parameters &parameters)
{
}
void OutputMavlinkV2::update(ControlData &control_data, bool new_setpoints)
void OutputMavlinkV2::update(const ControlData &control_data, bool new_setpoints, uint8_t &gimbal_device_id)
{
_check_for_gimbal_device_information();
@@ -162,7 +162,7 @@ void OutputMavlinkV2::update(ControlData &control_data, bool new_setpoints)
_last_update = t;
}
control_data.device_compid = _gimbal_device_found ? _gimbal_device_compid : 0;
gimbal_device_id = _gimbal_device_found ? _gimbal_device_compid : 0;
_publish_gimbal_device_set_attitude();
}