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AP_Frsky_Telem: return a reference from AP::mission()

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Every vehicle which compiles mission support in also instantiates an
AP_Mission object, so the singleton is never null.  Returning a
reference rather than a pointer says so, and lets the nullptr checks at
each call site go away.

Saves around 150 bytes of flash per firmware.
This commit is contained in:
Peter Barker
2026-07-29 18:18:35 +10:00
committed by Peter Barker
parent 24834fbad8
commit 96eaea3d16
1 changed files with 3 additions and 7 deletions
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libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
+3 -7
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@@ -262,10 +262,7 @@ bool AP_Frsky_SPort_Passthrough::is_packet_ready(uint8_t idx, bool queue_empty)
break;
#if AP_MISSION_ENABLED
case WAYPOINT:
{
const AP_Mission *mission = AP::mission();
packet_ready = mission != nullptr && mission->get_current_nav_index() > 0;
}
packet_ready = AP::mission().get_current_nav_index() > 0;
break;
#endif // AP_MISSION_ENABLED
case UDATA:
@@ -802,9 +799,8 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_wind(void)
#if AP_MISSION_ENABLED
uint32_t AP_Frsky_SPort_Passthrough::calc_waypoint(void)
{
const AP_Mission *mission = AP::mission();
const AP_Vehicle *vehicle = AP::vehicle();
if (mission == nullptr || vehicle == nullptr) {
if (vehicle == nullptr) {
return 0U;
}
float wp_distance;
@@ -816,7 +812,7 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_waypoint(void)
return 0U;
}
// waypoint current nav index
uint32_t value = MIN(mission->get_current_nav_index(), WP_NUMBER_LIMIT);
uint32_t value = MIN(AP::mission().get_current_nav_index(), WP_NUMBER_LIMIT);
// distance to next waypoint
value |= prep_number(wp_distance, 3, 2) << WP_DISTANCE_OFFSET;
// bearing encoded in 3 degrees increments