From 040b8f3802afdd59fcf669e54c6f12d33048e1d3 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 8 Jul 2013 14:16:46 +0200
Subject: [PATCH] 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(-)
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index 5b8345e7e4..7c1c4b1751 100644
--- a/src/modules/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -49,7 +49,6 @@
#include <mqueue.h>
#include <string.h>
#include "mavlink_bridge_header.h"
-#include <v1.0/common/mavlink.h>
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
@@ -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 0010bb341e..149efda60d 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 <v1.0/common/mavlink.h>
#endif /* MAVLINK_BRIDGE_HEADER_H */
diff --git a/src/modules/mavlink/mavlink_parameters.c b/src/modules/mavlink/mavlink_parameters.c
index 819f3441bb..18ca7a854b 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 <v1.0/common/mavlink.h>
#include "mavlink_parameters.h"
#include <uORB/uORB.h>
#include "math.h" /* isinf / isnan checks */
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 33ac14860b..01bbabd46d 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -49,7 +49,6 @@
#include <fcntl.h>
#include <mqueue.h>
#include <string.h>
-#include <v1.0/common/mavlink.h>
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
@@ -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 4b010dd59f..be88b87948 100644
--- a/src/modules/mavlink/missionlib.c
+++ b/src/modules/mavlink/missionlib.c
@@ -48,7 +48,6 @@
#include <mqueue.h>
#include <string.h>
#include "mavlink_bridge_header.h"
-#include <v1.0/common/mavlink.h>
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
diff --git a/src/modules/mavlink/missionlib.h b/src/modules/mavlink/missionlib.h
index c2ca735b3b..c7d8f90c53 100644
--- a/src/modules/mavlink/missionlib.h
+++ b/src/modules/mavlink/missionlib.h
@@ -39,7 +39,7 @@
#pragma once
-#include <v1.0/common/mavlink.h>
+#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 0597555abf..edb8761b80 100644
--- a/src/modules/mavlink/orb_listener.c
+++ b/src/modules/mavlink/orb_listener.c
@@ -47,7 +47,6 @@
#include <fcntl.h>
#include <string.h>
#include "mavlink_bridge_header.h"
-#include <v1.0/common/mavlink.h>
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c
index cefcca4685..405046750b 100644
--- a/src/modules/mavlink/waypoints.c
+++ b/src/modules/mavlink/waypoints.c
@@ -45,6 +45,7 @@
#include <unistd.h>
#include <stdio.h>
+#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 c32ab32e5a..96a0ecd308 100644
--- a/src/modules/mavlink/waypoints.h
+++ b/src/modules/mavlink/waypoints.h
@@ -47,11 +47,11 @@
#include <v1.0/mavlink_types.h>
-#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 <v1.0/common/mavlink.h>
+// #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 <stdbool.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
--
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