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Refactor set_publish() logic so that a default false value is not (re)set each loop in simulator_mapvlink.cpp and provide a default argument to set_publish() in simulator.h.

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mcsauder
2019-03-02 10:11:05 -07:00
committed by Beat Küng
parent 6e0fc150c0
commit 0bd5d6caff
2 changed files with 3 additions and 3 deletions
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src/modules/simulator/simulator.h
+1 -1
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@@ -344,7 +344,7 @@ private:
void send_controls(); void send_controls();
void send_heartbeat(); void send_heartbeat();
void send_mavlink_message(const mavlink_message_t &aMsg); void send_mavlink_message(const mavlink_message_t &aMsg);
void set_publish(const bool publish); void set_publish(const bool publish = false);
void update_sensors(mavlink_hil_sensor_t *imu); void update_sensors(mavlink_hil_sensor_t *imu);
void update_gps(mavlink_hil_gps_t *gps_sim); void update_gps(mavlink_hil_gps_t *gps_sim);
src/modules/simulator/simulator_mavlink.cpp
+2 -2
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@@ -837,8 +837,10 @@ void Simulator::poll_for_MAVLink_messages()
for (int i = 0; i < len; ++i) { for (int i = 0; i < len; ++i) {
if (mavlink_parse_char(MAVLINK_COMM_1, serial_buf[i], &msg, &serial_status)) { if (mavlink_parse_char(MAVLINK_COMM_1, serial_buf[i], &msg, &serial_status)) {
// have a message, handle it // have a message, handle it
bool prev_publish = _publish;
set_publish(true); set_publish(true);
handle_message(&msg); handle_message(&msg);
set_publish(prev_publish);
} }
} }
} }
@@ -846,8 +848,6 @@ void Simulator::poll_for_MAVLink_messages()
#endif #endif
} }
set_publish(false);
} }