Cut case MAVLINK_MSG_ID_LANDING_TARGET content and paste into handle_…

…message_landing_target() method.
Manakoy · Feb 28, 2019 · 411db78 · 411db78
1 parent 0df34af
commit 411db78
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Showing 2 changed files with 21 additions and 15 deletions.
diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h
@@ -331,6 +331,8 @@ class Simulator : public ModuleParams
 	mavlink_hil_actuator_controls_t actuator_controls_from_outputs(const actuator_outputs_s &actuators);
 
 	void handle_message(mavlink_message_t *msg, bool publish);
+	void handle_message_landing_target(const mavlink_message_t *msg);
+
 	void parameters_update(bool force);
 	void poll_topics();
 	void pollForMAVLinkMessages(bool publish);

diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
@@ -398,21 +398,7 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
 		break;
 
 	case MAVLINK_MSG_ID_LANDING_TARGET: {
-			mavlink_landing_target_t landing_target_mavlink;
-			mavlink_msg_landing_target_decode(msg, &landing_target_mavlink);
-
-			struct irlock_report_s report = {};
-
-			report.timestamp = hrt_absolute_time();
-			report.signature = landing_target_mavlink.target_num;
-			report.pos_x = landing_target_mavlink.angle_x;
-			report.pos_y = landing_target_mavlink.angle_y;
-			report.size_x = landing_target_mavlink.size_x;
-			report.size_y = landing_target_mavlink.size_y;
-
-			int irlock_multi;
-			orb_publish_auto(ORB_ID(irlock_report), &_irlock_report_pub, &report, &irlock_multi, ORB_PRIO_HIGH);
-
+			handle_message_landing_target(msg);
 			break;
 		}
 
@@ -513,6 +499,24 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
 
 }
 
+void Simulator::handle_message_landing_target(const mavlink_message_t *msg)
+{
+	mavlink_landing_target_t landing_target_mavlink;
+	mavlink_msg_landing_target_decode(msg, &landing_target_mavlink);
+
+	struct irlock_report_s report = {};
+
+	report.timestamp = hrt_absolute_time();
+	report.signature = landing_target_mavlink.target_num;
+	report.pos_x = landing_target_mavlink.angle_x;
+	report.pos_y = landing_target_mavlink.angle_y;
+	report.size_x = landing_target_mavlink.size_x;
+	report.size_y = landing_target_mavlink.size_y;
+
+	int irlock_multi;
+	orb_publish_auto(ORB_ID(irlock_report), &_irlock_report_pub, &report, &irlock_multi, ORB_PRIO_HIGH);
+}
+
 void Simulator::send_mavlink_message(const mavlink_message_t &aMsg)
 {
 	uint8_t  buf[MAVLINK_MAX_PACKET_LEN];