From 040b8f3802afdd59fcf669e54c6f12d33048e1d3 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 8 Jul 2013 14:16:46 +0200 Subject: Cleaned up MAVLink include hierarchy --- src/modules/mavlink/mavlink.c | 7 +++---- src/modules/mavlink/mavlink_bridge_header.h | 8 +++++--- src/modules/mavlink/mavlink_parameters.c | 1 - src/modules/mavlink/mavlink_receiver.cpp | 2 -- src/modules/mavlink/missionlib.c | 1 - src/modules/mavlink/missionlib.h | 2 +- src/modules/mavlink/orb_listener.c | 1 - src/modules/mavlink/waypoints.c | 1 + src/modules/mavlink/waypoints.h | 10 +++++----- 9 files changed, 15 insertions(+), 18 deletions(-) (limited to 'src/modules/mavlink') diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 5b8345e7e..7c1c4b175 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -49,7 +49,6 @@ #include #include #include "mavlink_bridge_header.h" -#include #include #include #include @@ -471,7 +470,7 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf } void -mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length) +mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length) { write(uart, ch, (size_t)(sizeof(uint8_t) * length)); } @@ -479,7 +478,7 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length) /* * Internal function to give access to the channel status for each channel */ -mavlink_status_t *mavlink_get_channel_status(uint8_t channel) +extern mavlink_status_t *mavlink_get_channel_status(uint8_t channel) { static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS]; return &m_mavlink_status[channel]; @@ -488,7 +487,7 @@ mavlink_status_t *mavlink_get_channel_status(uint8_t channel) /* * Internal function to give access to the channel buffer for each channel */ -mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel) +extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel) { static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS]; return &m_mavlink_buffer[channel]; diff --git a/src/modules/mavlink/mavlink_bridge_header.h b/src/modules/mavlink/mavlink_bridge_header.h index 0010bb341..149efda60 100644 --- a/src/modules/mavlink/mavlink_bridge_header.h +++ b/src/modules/mavlink/mavlink_bridge_header.h @@ -73,9 +73,11 @@ extern mavlink_system_t mavlink_system; * @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0 * @param ch Character to send */ -extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length); +extern void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *ch, int length); -mavlink_status_t *mavlink_get_channel_status(uint8_t chan); -mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan); +extern mavlink_status_t *mavlink_get_channel_status(uint8_t chan); +extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan); + +#include #endif /* MAVLINK_BRIDGE_HEADER_H */ diff --git a/src/modules/mavlink/mavlink_parameters.c b/src/modules/mavlink/mavlink_parameters.c index 819f3441b..18ca7a854 100644 --- a/src/modules/mavlink/mavlink_parameters.c +++ b/src/modules/mavlink/mavlink_parameters.c @@ -40,7 +40,6 @@ */ #include "mavlink_bridge_header.h" -#include #include "mavlink_parameters.h" #include #include "math.h" /* isinf / isnan checks */ diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 33ac14860..01bbabd46 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -49,7 +49,6 @@ #include #include #include -#include #include #include #include @@ -503,7 +502,6 @@ handle_message(mavlink_message_t *msg) } else { orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed); } - warnx("IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s); hil_global_pos.lat = hil_state.lat; hil_global_pos.lon = hil_state.lon; diff --git a/src/modules/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c index 4b010dd59..be88b8794 100644 --- a/src/modules/mavlink/missionlib.c +++ b/src/modules/mavlink/missionlib.c @@ -48,7 +48,6 @@ #include #include #include "mavlink_bridge_header.h" -#include #include #include #include diff --git a/src/modules/mavlink/missionlib.h b/src/modules/mavlink/missionlib.h index c2ca735b3..c7d8f90c5 100644 --- a/src/modules/mavlink/missionlib.h +++ b/src/modules/mavlink/missionlib.h @@ -39,7 +39,7 @@ #pragma once -#include +#include "mavlink_bridge_header.h" //extern void mavlink_wpm_send_message(mavlink_message_t *msg); //extern void mavlink_wpm_send_gcs_string(const char *string); diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 0597555ab..edb8761b8 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -47,7 +47,6 @@ #include #include #include "mavlink_bridge_header.h" -#include #include #include #include diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c index cefcca468..405046750 100644 --- a/src/modules/mavlink/waypoints.c +++ b/src/modules/mavlink/waypoints.c @@ -45,6 +45,7 @@ #include #include +#include "mavlink_bridge_header.h" #include "missionlib.h" #include "waypoints.h" #include "util.h" diff --git a/src/modules/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h index c32ab32e5..96a0ecd30 100644 --- a/src/modules/mavlink/waypoints.h +++ b/src/modules/mavlink/waypoints.h @@ -47,11 +47,11 @@ #include -#ifndef MAVLINK_SEND_UART_BYTES -#define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len) -#endif -extern mavlink_system_t mavlink_system; -#include +// #ifndef MAVLINK_SEND_UART_BYTES +// #define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len) +// #endif +//extern mavlink_system_t mavlink_system; +#include "mavlink_bridge_header.h" #include #include #include -- cgit v1.2.3