Pointers for stateData

UWARG · Oct 13, 2024 · f96b272 · f96b272
1 parent 9feb0ac
commit f96b272
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Showing 3 changed files with 24 additions and 23 deletions.
diff --git a/SystemManager/Src/SystemManager.cpp b/SystemManager/Src/SystemManager.cpp
@@ -57,7 +57,8 @@ SystemManager::SystemManager()
  MAV_MODE_FLAG mode = MAV_MODE_FLAG::MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
 
  // Creating parameters for the GroundStationCommunication that will be passed to telemetryManager
- TMCircularBuffer* DMAReceiveBuffer = &(new TMCircularBuffer(rfd900_circular_buffer));
+ TMCircularBuffer& DMAReceiveBuffer = *(new TMCircularBuffer(rfd900_circular_buffer));
+
 
  // the buffer that stores non_routine/low_priority bytes (ex. Battery Voltage) to be sent to the
  // ground station.

diff --git a/TelemetryManager/Inc/TelemetryManager.hpp b/TelemetryManager/Inc/TelemetryManager.hpp
@@ -26,62 +26,62 @@ struct StateData {
  * They are updated by System Manager*/
  // Altitude (MSL) (unit:
  // mm)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- int32_t& alt;
+ int32_t* alt;
 
  // The latitude of the drone (unit:
  // degE7)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- int32_t& lat;
+ int32_t* lat;
 
  // The longitude of the drone (unit:
  // degE7)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- int32_t& lon;
+ int32_t* lon;
 
  // Altitude above home (unit:
  // mm)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- int32_t& relative_alt;
+ int32_t* relative_alt;
 
  // Ground X Speed (Latitude, positive north) (unit:
  // cm/s)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- int16_t& vx;
+ int16_t* vx;
 
  // Ground Y Speed (Longitude, positive east) (unit:
  // cm/s)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- int16_t& vy;
+ int16_t* vy;
 
  // Ground Z Speed (Altitude, positive down) (unit:
  // cm/s)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- int16_t& vz;
+ int16_t* vz;
 
  // Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
  // (unit: cdeg)(https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- uint16_t& hdg;
+ uint16_t* hdg;
  // Timestamp (time since system boot) (unit: ms)
  // (https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT).
- int32_t& time_boot_ms;
+ int32_t* time_boot_ms;
 
  // Roll angle (-pi..+pi) (unit: rad)
  // (https://mavlink.io/en/messages/common.html#ATTITUDE).
- float& roll;
+ float* roll;
 
  // Pitch angle (-pi..+pi) (unit: rad)
  // (https://mavlink.io/en/messages/common.html#ATTITUDE).
- float& pitch;
+ float* pitch;
 
  // Yaw angle (-pi..+pi) (unit: rad)
  // (https://mavlink.io/en/messages/common.html#ATTITUDE).
- float& yaw;
+ float* yaw;
 
  // Roll angular speed (unit: rad/s)
  // (https://mavlink.io/en/messages/common.html#ATTITUDE).
- float& rollspeed;
+ float* rollspeed;
 
  // Pitch angular speed (unit: rad/s)
  // (https://mavlink.io/en/messages/common.html#ATTITUDE).
- float& pitchspeed;
+ float* pitchspeed;
 
  // yawspeed Yaw angular speed (unit: rad/s)
  // (https://mavlink.io/en/messages/common.html#ATTITUDE).
- float& yawspeed;
+ float* yawspeed;
 
 };
 

diff --git a/TelemetryManager/Src/TelemetryManager.cpp b/TelemetryManager/Src/TelemetryManager.cpp
@@ -68,10 +68,10 @@ void routineDataTransmission(void* pvParameters) {
 
  // Pack the message with the actual data
  mavlink_msg_global_position_int_pack(system_id, component_id, &globalPositionIntMsg,
- tm->stateData.time_boot_ms, tm->stateData.lat, 
- tm->stateData.lon, tm->stateData.alt,
- tm->stateData.relative_alt, tm->stateData.vx, 
- tm->stateData.vy, tm->stateData.vz, tm->stateData.hdg);
+ *(tm->stateData.time_boot_ms), *(tm->stateData.lat), 
+ *(tm->stateData.lon), *(tm->stateData.alt),
+ *(tm->stateData.relative_alt), *(tm->stateData.vx), 
+ *(tm->stateData.vy), *(tm->stateData.vz), *(tm->stateData.hdg));
 
  // Add the packed message to the byte queue for later transmission
  tm->MT.addMavlinkMsgToByteQueue(globalPositionIntMsg, tm->GSC.highPriorityTransmitBuffer);
@@ -80,9 +80,9 @@ void routineDataTransmission(void* pvParameters) {
  mavlink_message_t attitudeMsg = {0};
  // Pack the message with the actual data
  mavlink_msg_attitude_pack(system_id, component_id, &attitudeMsg, 
- tm->stateData.time_boot_ms, tm->stateData.roll, tm->stateData.pitch, 
- tm->stateData.yaw, tm->stateData.rollspeed, tm->stateData.pitchspeed, 
- tm->stateData.yawspeed);
+ *(tm->stateData.time_boot_ms), *(tm->stateData.roll), *(tm->stateData.pitch), 
+ *(tm->stateData.yaw), *(tm->stateData.rollspeed), *(tm->stateData.pitchspeed), 
+ *(tm->stateData.yawspeed));
 
  // Add the packed message to the byte queue for later transmission
  tm->MT.addMavlinkMsgToByteQueue(attitudeMsg, tm->GSC.highPriorityTransmitBuffer);