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mavlink: address review comments

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This commit is contained in:
Julian Oes
2020-06-03 17:57:12 +02:00
parent 7d1b451e39
commit efb10a2fbc
3 changed files with 11 additions and 8 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+2 -2
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@@ -517,7 +517,7 @@ uint8_t MavlinkReceiver::handle_request_message_command(uint16_t message_id, flo
{ {
bool stream_found = false; bool stream_found = false;
for (const auto stream : _mavlink->get_streams()) { for (const auto &stream : _mavlink->get_streams()) {
if (stream->get_id() == message_id) { if (stream->get_id() == message_id) {
stream_found = stream->request_message(param2, param3, param4, param5, param6, param7); stream_found = stream->request_message(param2, param3, param4, param5, param6, param7);
break; break;
@@ -532,7 +532,7 @@ uint8_t MavlinkReceiver::handle_request_message_command(uint16_t message_id, flo
_mavlink->configure_stream_threadsafe(stream_name, 0.0f); _mavlink->configure_stream_threadsafe(stream_name, 0.0f);
// Now we try again to send it. // Now we try again to send it.
for (const auto stream : _mavlink->get_streams()) { for (const auto &stream : _mavlink->get_streams()) {
if (stream->get_id() == message_id) { if (stream->get_id() == message_id) {
stream_found = stream->request_message(param2, param3, param4, param5, param6, param7); stream_found = stream->request_message(param2, param3, param4, param5, param6, param7);
break; break;
src/modules/mavlink/streams/flight_information.h
+6 -3
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@@ -71,13 +71,17 @@ public:
} }
private: private:
uORB::Subscription _armed_sub{ORB_ID(actuator_armed)}; uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
param_t _param_com_flight_uuid;
/* do not allow top copying this class */ /* do not allow top copying this class */
MavlinkStreamFlightInformation(MavlinkStreamFlightInformation &) = delete; MavlinkStreamFlightInformation(MavlinkStreamFlightInformation &) = delete;
MavlinkStreamFlightInformation &operator = (const MavlinkStreamFlightInformation &) = delete; MavlinkStreamFlightInformation &operator = (const MavlinkStreamFlightInformation &) = delete;
protected: protected:
explicit MavlinkStreamFlightInformation(Mavlink *mavlink) : MavlinkStream(mavlink) explicit MavlinkStreamFlightInformation(Mavlink *mavlink) : MavlinkStream(mavlink)
{} {
_param_com_flight_uuid = param_find("COM_FLIGHT_UUID");
}
bool send(const hrt_abstime t) override bool send(const hrt_abstime t) override
{ {
@@ -85,9 +89,8 @@ protected:
bool ret = _armed_sub.copy(&actuator_armed); bool ret = _armed_sub.copy(&actuator_armed);
if (ret && actuator_armed.timestamp != 0) { if (ret && actuator_armed.timestamp != 0) {
const param_t param_com_flight_uuid = param_find("COM_FLIGHT_UUID");
int32_t flight_uuid; int32_t flight_uuid;
param_get(param_com_flight_uuid, &flight_uuid); param_get(_param_com_flight_uuid, &flight_uuid);
mavlink_flight_information_t flight_info{}; mavlink_flight_information_t flight_info{};
flight_info.flight_uuid = static_cast<uint64_t>(flight_uuid); flight_info.flight_uuid = static_cast<uint64_t>(flight_uuid);
src/modules/mavlink/streams/storage_information.h
+3 -3
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@@ -80,11 +80,11 @@ public:
bool request_message(float param2, float param3, float param4, bool request_message(float param2, float param3, float param4,
float param5, float param6, float param7) override float param5, float param6, float param7) override
{ {
storage_id = (int)roundf(param2); _storage_id = (int)roundf(param2);
return send(hrt_absolute_time()); return send(hrt_absolute_time());
} }
private: private:
int storage_id = 0; int _storage_id = 0;
/* do not allow top copying this class */ /* do not allow top copying this class */
MavlinkStreamStorageInformation(MavlinkStreamStorageInformation &) = delete; MavlinkStreamStorageInformation(MavlinkStreamStorageInformation &) = delete;
@@ -100,7 +100,7 @@ protected:
mavlink_storage_information_t storage_info{}; mavlink_storage_information_t storage_info{};
const char *microsd_dir = PX4_STORAGEDIR; const char *microsd_dir = PX4_STORAGEDIR;
if (storage_id == 0 || storage_id == 1) { // request is for all or the first storage if (_storage_id == 0 || _storage_id == 1) { // request is for all or the first storage
storage_info.storage_id = 1; storage_info.storage_id = 1;
struct statfs statfs_buf; struct statfs statfs_buf;