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navigator: use reference instead of pointer to pass the vehicle command to publish

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This commit is contained in:
Matthias Grob
2025-04-25 14:18:04 +02:00
committed by Silvan Fuhrer
parent 672d228d79
commit dfed3970d4
13 changed files with 70 additions and 70 deletions
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6
docs/en/camera/camera_architecture.md
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@@ -88,9 +88,9 @@ Commands supported in missions, including camera commands, are shown in these me
- Mission items are executed when set active.
- `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
- [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
- Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(&vehicle_command);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s *vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- For some camera commands it sets the component ID to the camera component id (`vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA`)
- Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(vehicle_command);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- For some camera commands it sets the component ID to the camera component id (`vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA`)
- All others just get published to default component ID.
- The `VehicleCommand` UORB topic is published.

6
docs/en/camera/mavlink_v2_camera.md
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@@ -83,11 +83,11 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
Issuing command:
MissionBlock::issue_command(const mission_item_s &item) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
At end this publishes the current vehicle command
_navigator->publish_vehicle_command(&vehicle_command);
_navigator.publish_vehicle_command(vehicle_command);
Publishing command:
void Navigator::publish_vehicle_command(vehicle_command_s *vehicle_command) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA
void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
All others just get published as-is
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