plugins: Use mavlink_msg_*_pack_chan() functions

Fix #43.
mavlink · Jul 11, 2014 · cf1636f · cf1636f
1 parent 7652b4c
commit cf1636f
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Showing 6 changed files with 47 additions and 40 deletions.
diff --git a/include/mavros/mavros_uas.h b/include/mavros/mavros_uas.h
@@ -29,6 +29,26 @@
 
 namespace mavplugin {
 
+/**
+ * @brief helper for mavlink_msg_*_pack_chan()
+ *
+ * Filler for first elements of pack functions.
+ */
+#define UAS_PACK_CHAN(uasobjptr)			\
+	(uasobjptr)->mav_link->get_system_id(), 	\
+	(uasobjptr)->mav_link->get_component_id(), 	\
+	(uasobjptr)->mav_link->get_channel()
+
+/**
+ * @brief helper for pack messages with target fields
+ *
+ * Filler for target_system, target_component fields.
+ */
+#define UAS_PACK_TGT(uasobjptr)				\
+	(uasobjptr)->get_tgt_system(), 			\
+	(uasobjptr)->get_tgt_component()
+
+
 /**
  * @brief UAS handler for plugins
  */

diff --git a/src/plugins/command.cpp b/src/plugins/command.cpp
@@ -188,9 +188,8 @@ class CommandPlugin : public MavRosPlugin {
 			float param7) {
 		mavlink_message_t msg;
 
-		mavlink_msg_command_long_pack(0, 0, &msg,
-				uas->get_tgt_system(),
-				uas->get_tgt_component(),
+		mavlink_msg_command_long_pack_chan(UAS_PACK_CHAN(uas), &msg,
+				UAS_PACK_TGT(uas),
 				command,
 				confirmation,
 				param1,

diff --git a/src/plugins/param.cpp b/src/plugins/param.cpp
@@ -459,9 +459,8 @@ class ParamPlugin : public MavRosPlugin {
 	void param_request_list() {
 		mavlink_message_t msg;
 
-		mavlink_msg_param_request_list_pack(0, 0, &msg,
-				uas->get_tgt_system(),
-				uas->get_tgt_component()
+		mavlink_msg_param_request_list_pack_chan(UAS_PACK_CHAN(uas), &msg,
+				UAS_PACK_TGT(uas)
 				);
 		uas->mav_link->send_message(&msg);
 	}
@@ -480,9 +479,8 @@ class ParamPlugin : public MavRosPlugin {
 		else
 			param_id[0] = '\0'; // force NULL termination
 
-		mavlink_msg_param_request_read_pack(0, 0, &msg,
-				uas->get_tgt_system(),
-				uas->get_tgt_component(),
+		mavlink_msg_param_request_read_pack_chan(UAS_PACK_CHAN(uas), &msg,
+				UAS_PACK_TGT(uas),
 				param_id,
 				index
 				);
@@ -496,9 +494,8 @@ class ParamPlugin : public MavRosPlugin {
 		char param_id[sizeof(mavlink_param_set_t::param_id)];
 		strncpy(param_id, param.param_id.c_str(), sizeof(param_id));
 
-		mavlink_msg_param_set_pack(0, 0, &msg,
-				uas->get_tgt_system(),
-				uas->get_tgt_component(),
+		mavlink_msg_param_set_pack_chan(UAS_PACK_CHAN(uas), &msg,
+				UAS_PACK_TGT(uas),
 				param_id,
 				pu.param_float,
 				pu.type

diff --git a/src/plugins/rc_io.cpp b/src/plugins/rc_io.cpp
@@ -220,9 +220,8 @@ class RCIOPlugin : public MavRosPlugin {
 	void rc_channels_override(boost::array<uint16_t, 8> &channels) {
 		mavlink_message_t msg;
 
-		mavlink_msg_rc_channels_override_pack(0, 0, &msg,
-				uas->get_tgt_system(),
-				uas->get_tgt_component(),
+		mavlink_msg_rc_channels_override_pack_chan(UAS_PACK_CHAN(uas), &msg,
+				UAS_PACK_TGT(uas),
 				channels[0],
 				channels[1],
 				channels[2],

diff --git a/src/plugins/sys_status.cpp b/src/plugins/sys_status.cpp
@@ -603,7 +603,7 @@ class SystemStatusPlugin : public MavRosPlugin
 			return;
 
 		mavlink_message_t msg;
-		mavlink_msg_heartbeat_pack(0, 0, &msg,
+		mavlink_msg_heartbeat_pack_chan(UAS_PACK_CHAN(uas), &msg,
 				MAV_TYPE_ONBOARD_CONTROLLER,
 				MAV_AUTOPILOT_INVALID,
 				MAV_MODE_MANUAL_ARMED,
@@ -622,9 +622,8 @@ class SystemStatusPlugin : public MavRosPlugin
 			mavros::StreamRate::Response &res) {
 
 		mavlink_message_t msg;
-		mavlink_msg_request_data_stream_pack(0, 0, &msg,
-				uas->get_tgt_system(),
-				uas->get_tgt_component(),
+		mavlink_msg_request_data_stream_pack_chan(UAS_PACK_CHAN(uas), &msg,
+				UAS_PACK_TGT(uas),
 				req.stream_id,
 				req.message_rate,
 				(req.on_off)? 1 : 0

diff --git a/src/plugins/waypoint.cpp b/src/plugins/waypoint.cpp
@@ -646,9 +646,8 @@ class WaypointPlugin : public MavRosPlugin {
 	void mission_item(WaypointItem &wp) {
 		mavlink_message_t msg;
 
-		mavlink_msg_mission_item_pack(0, 0, &msg,
-				uas->get_tgt_system(),
-				uas->get_tgt_component(),
+		mavlink_msg_mission_item_pack_chan(UAS_PACK_CHAN(uas), &msg,
+				UAS_PACK_TGT(uas),
 				wp.seq,
 				wp.frame,
 				wp.command,
@@ -668,9 +667,8 @@ class WaypointPlugin : public MavRosPlugin {
 	void mission_request(uint16_t seq) {
 		mavlink_message_t msg;
 
-		mavlink_msg_mission_request_pack(0, 0, &msg,
-				uas->get_tgt_system(),
-				uas->get_tgt_component(),
+		mavlink_msg_mission_request_pack_chan(UAS_PACK_CHAN(uas), &msg,
+				UAS_PACK_TGT(uas),
 				seq
 				);
 		uas->mav_link->send_message(&msg);
@@ -679,9 +677,8 @@ class WaypointPlugin : public MavRosPlugin {
 	void mission_set_current(uint16_t seq) {
 		mavlink_message_t msg;
 
-		mavlink_msg_mission_set_current_pack(0, 0, &msg,
-				uas->get_tgt_system(),
-				uas->get_tgt_component(),
+		mavlink_msg_mission_set_current_pack_chan(UAS_PACK_CHAN(uas), &msg,
+				UAS_PACK_TGT(uas),
 				seq
 				);
 		uas->mav_link->send_message(&msg);
@@ -690,19 +687,17 @@ class WaypointPlugin : public MavRosPlugin {
 	void mission_request_list() {
 		mavlink_message_t msg;
 
-		mavlink_msg_mission_request_list_pack(0, 0, &msg,
-				uas->get_tgt_system(),
-				uas->get_tgt_component()
+		mavlink_msg_mission_request_list_pack_chan(UAS_PACK_CHAN(uas), &msg,
+				UAS_PACK_TGT(uas)
 				);
 		uas->mav_link->send_message(&msg);
 	}
 
 	void mission_count(uint16_t cnt) {
 		mavlink_message_t msg;
 
-		mavlink_msg_mission_count_pack(0, 0, &msg,
-				uas->get_tgt_system(),
-				uas->get_tgt_component(),
+		mavlink_msg_mission_count_pack_chan(UAS_PACK_CHAN(uas), &msg,
+				UAS_PACK_TGT(uas),
 				cnt
 				);
 		uas->mav_link->send_message(&msg);
@@ -711,19 +706,17 @@ class WaypointPlugin : public MavRosPlugin {
 	void mission_clear_all() {
 		mavlink_message_t msg;
 
-		mavlink_msg_mission_clear_all_pack(0, 0, &msg,
-				uas->get_tgt_system(),
-				uas->get_tgt_component()
+		mavlink_msg_mission_clear_all_pack_chan(UAS_PACK_CHAN(uas), &msg,
+				UAS_PACK_TGT(uas)
 				);
 		uas->mav_link->send_message(&msg);
 	}
 
 	void mission_ack(enum MAV_MISSION_RESULT type) {
 		mavlink_message_t msg;
 
-		mavlink_msg_mission_ack_pack(0, 0, &msg,
-				uas->get_tgt_system(),
-				uas->get_tgt_component(),
+		mavlink_msg_mission_ack_pack_chan(UAS_PACK_CHAN(uas), &msg,
+				UAS_PACK_TGT(uas),
 				type
 				);
 		uas->mav_link->send_message(&msg);