[state interface] set basic types by value

sw/airborne/firmwares/fixedwing/datalink.c

@@ -166,8 +166,7 @@ void dl_parse_msg(void)
       wind.y = DL_WIND_INFO_east(dl_buffer);
       stateSetHorizontalWindspeed_f(&wind);
 #if !USE_AIRSPEED
-      float wi_airspeed = DL_WIND_INFO_airspeed(dl_buffer);
-      stateSetAirspeed_f(&wi_airspeed);
+      stateSetAirspeed_f(DL_WIND_INFO_airspeed(dl_buffer));
 #endif
 #ifdef WIND_INFO_RET
       float airspeed = stateGetAirspeed_f();

sw/airborne/modules/air_data/air_data.c

@@ -129,7 +129,7 @@ static void pressure_diff_cb(uint8_t __attribute__((unused)) sender_id, float pr
     air_data.airspeed = eas_from_dynamic_pressure(air_data.differential);
     air_data.tas = tas_from_eas(air_data.airspeed);
 #if USE_AIRSPEED_AIR_DATA
-    stateSetAirspeed_f(&air_data.airspeed);
+    stateSetAirspeed_f(air_data.airspeed);
 #endif
   }
 }

sw/airborne/modules/sensors/airspeed_adc.c

@@ -86,6 +86,6 @@ void airspeed_adc_update(void)
 #endif //SITL
 
 #if USE_AIRSPEED_ADC
-  stateSetAirspeed_f(&airspeed_adc.airspeed);
+  stateSetAirspeed_f(airspeed_adc.airspeed);
 #endif
 }

sw/airborne/modules/sensors/airspeed_amsys.c

@@ -118,12 +118,12 @@ void airspeed_amsys_read_periodic(void)
   }
 
 #if USE_AIRSPEED_AMSYS
-  stateSetAirspeed_f(&airspeed_amsys);
+  stateSetAirspeed_f(airspeed_amsys);
 #endif
 
 #elif !defined USE_NPS
   extern float sim_air_speed;
-  stateSetAirspeed_f(&sim_air_speed);
+  stateSetAirspeed_f(sim_air_speed);
 #endif //SITL
 
 
@@ -208,7 +208,7 @@ void airspeed_amsys_read_event(void)
 
       //New value available
 #if USE_AIRSPEED
-      stateSetAirspeed_f(&airspeed_amsys);
+      stateSetAirspeed_f(airspeed_amsys);
 #endif
 #ifdef AIRSPEED_AMSYS_SYNC_SEND
       airspeed_amsys_downlink();

sw/airborne/modules/sensors/airspeed_ets.c

@@ -137,7 +137,7 @@ void airspeed_ets_read_periodic(void)
   }
 #elif !defined USE_NPS
   extern float sim_air_speed;
-  stateSetAirspeed_f(&sim_air_speed);
+  stateSetAirspeed_f(sim_air_speed);
 #endif //SITL
 }
 
@@ -212,7 +212,7 @@ void airspeed_ets_read_event(void)
     }
     airspeed_ets = airspeed_ets / (float)AIRSPEED_ETS_NBSAMPLES_AVRG;
 #if USE_AIRSPEED_ETS
-    stateSetAirspeed_f(&airspeed_ets);
+    stateSetAirspeed_f(airspeed_ets);
 #endif
 #if AIRSPEED_ETS_SYNC_SEND
     DOWNLINK_SEND_AIRSPEED_ETS(DefaultChannel, DefaultDevice, &airspeed_ets_raw, &airspeed_ets_offset, &airspeed_ets);

sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c

@@ -210,7 +210,7 @@ void ms45xx_i2c_event(void)
       // Compute airspeed
       ms45xx.airspeed = sqrtf(Max(ms45xx.diff_pressure * ms45xx.airspeed_scale, 0));
 #if USE_AIRSPEED_MS45XX
-      stateSetAirspeed_f(&ms45xx.airspeed);
+      stateSetAirspeed_f(ms45xx.airspeed);
 #endif
       if (ms45xx.sync_send) {
         ms45xx_downlink(&(DefaultChannel).trans_tx, &(DefaultDevice).device);

sw/airborne/modules/sensors/aoa_adc.c

@@ -84,7 +84,7 @@ void aoa_adc_update(void)
   prev_aoa = aoa_adc.angle;
 
 #ifdef USE_AOA
-  stateSetAngleOfAttack_f(&aoa_adc.angle);
+  stateSetAngleOfAttack_f(aoa_adc.angle);
 #endif
 
   RunOnceEvery(30, DOWNLINK_SEND_AOA_ADC(DefaultChannel, DefaultDevice, &aoa_adc.raw, &aoa_adc.angle));

sw/airborne/modules/sensors/pressure_board_navarro.c

@@ -151,7 +151,7 @@ void pbn_read_event(void)
       pbn.airspeed = (pbn.airspeed_filter * pbn.airspeed + tmp_airspeed) /
                      (pbn.airspeed_filter + 1.);
 #if USE_AIRSPEED_PBN
-      stateSetAirspeed_f(&pbn.airspeed);
+      stateSetAirspeed_f(pbn.airspeed);
 #endif
 
       pbn.altitude = PBN_ALTITUDE_SCALE * (float)(pbn.altitude_adc - pbn.altitude_offset);

sw/airborne/state.h

@@ -1233,9 +1233,9 @@ static inline void stateSetHorizontalWindspeed_i(struct Int32Vect2 *h_windspeed)
 }
 
 /// Set airspeed (int).
-static inline void stateSetAirspeed_i(int32_t *airspeed)
+static inline void stateSetAirspeed_i(int32_t airspeed)
 {
-  state.airspeed_i = *airspeed;
+  state.airspeed_i = airspeed;
   /* clear bits for all airspeed representations and only set the new one */
   ClearBit(state.wind_air_status, AIRSPEED_F);
   SetBit(state.wind_air_status, AIRSPEED_I);
@@ -1251,27 +1251,27 @@ static inline void stateSetHorizontalWindspeed_f(struct FloatVect2 *h_windspeed)
 }
 
 /// Set airspeed (float).
-static inline void stateSetAirspeed_f(float *airspeed)
+static inline void stateSetAirspeed_f(float airspeed)
 {
-  state.airspeed_f = *airspeed;
+  state.airspeed_f = airspeed;
   /* clear bits for all airspeed representations and only set the new one */
   ClearBit(state.wind_air_status, AIRSPEED_I);
   SetBit(state.wind_air_status, AIRSPEED_F);
 }
 
 /// Set angle of attack in radians (float).
-static inline void stateSetAngleOfAttack_f(float *aoa)
+static inline void stateSetAngleOfAttack_f(float aoa)
 {
-  state.angle_of_attack_f = *aoa;
+  state.angle_of_attack_f = aoa;
   /* clear bits for all AOA representations and only set the new one */
   /// @todo no integer yet
   SetBit(state.wind_air_status, AOA_F);
 }
 
 /// Set sideslip angle in radians (float).
-static inline void stateSetSideslip_f(float *sideslip)
+static inline void stateSetSideslip_f(float sideslip)
 {
-  state.sideslip_f = *sideslip;
+  state.sideslip_f = sideslip;
   /* clear bits for all sideslip representations and only set the new one */
   /// @todo no integer yet
   SetBit(state.wind_air_status, SIDESLIP_F);