Pass mavlink_message_t into handle_decoded_message for heartbeat

This may become the pattern in the future for all messages.

Author: peterbarker

analyzing_mavlink_message_handler.cpp

@@ -198,7 +198,7 @@ void Analyzing_MAVLink_Message_Handler::handle_decoded_message(uint64_t T, mavli
     _analyze->evaluate_all();
 }
 
-void Analyzing_MAVLink_Message_Handler::handle_decoded_message(uint64_t T, mavlink_heartbeat_t &msg) {
+void Analyzing_MAVLink_Message_Handler::handle_decoded_message(uint64_t T, mavlink_message_t &m UNUSED, mavlink_heartbeat_t &msg) {
     _vehicle->set_T(T);
 
     if (msg.autopilot == 8) {

analyzing_mavlink_message_handler.h

@@ -36,7 +36,7 @@ class Analyzing_MAVLink_Message_Handler : public MAVLink_Message_Handler {
     virtual void handle_decoded_message(uint64_t T, mavlink_ekf_status_report_t &msg) override;
     virtual void handle_decoded_message(uint64_t T, mavlink_gps_raw_int_t &msg) override;
     virtual void handle_decoded_message(uint64_t T, mavlink_global_position_int_t &msg) override;
-    virtual void handle_decoded_message(uint64_t T, mavlink_heartbeat_t &msg) override;
+    virtual void handle_decoded_message(uint64_t T, mavlink_message_t &m UNUSED, mavlink_heartbeat_t &msg) override;
     virtual void handle_decoded_message(uint64_t T, mavlink_nav_controller_output_t &msg) override;
     virtual void handle_decoded_message(uint64_t T, mavlink_param_value_t &msg) override;    
     virtual void handle_decoded_message(uint64_t T, mavlink_power_status_t &msg) override;

dataflash_logger.cpp

@@ -247,15 +247,18 @@ void DataFlash_Logger::logging_stop()
     logging_started = false;
 }
 
-void DataFlash_Logger::handle_message(uint64_t timestamp, mavlink_message_t &msg)
+void DataFlash_Logger::handle_decoded_message(uint64_t T,
+                                              mavlink_message_t &m,
+                                              mavlink_heartbeat_t &msg)
 {
-    if (!logging_started && msg.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
-        la_log(LOG_INFO, "Heartbeat received from %u/%u", msg.sysid, msg.compid);
+    if (!logging_started) {
+        la_log(LOG_INFO, "Heartbeat received from %u/%u", m.sysid, m.compid);
     }
 
-    most_recent_sender_system_id = msg.sysid;
-    most_recent_sender_component_id = msg.compid;
-    MAVLink_Message_Handler::handle_message(timestamp, msg);
+    most_recent_sender_system_id = m.sysid;
+    most_recent_sender_component_id = m.compid;
+
+    MAVLink_Message_Handler::handle_decoded_message(T, m, msg);
 }
 
 void DataFlash_Logger::handle_decoded_message(uint64_t T UNUSED, mavlink_remote_log_data_block_t &msg)

dataflash_logger.h

@@ -61,8 +61,9 @@ class DataFlash_Logger : public MAVLink_Message_Handler {
     int out_fd;
     bool logging_started = false;
 
-    
-    void handle_message(uint64_t timestamp, mavlink_message_t &msg);
+    void handle_decoded_message(uint64_t T,
+                                mavlink_message_t &m,
+                                mavlink_heartbeat_t &msg);
     void handle_decoded_message(uint64_t T, mavlink_remote_log_data_block_t &msg);
 
     bool make_new_log_filename(char *buffer, uint8_t bufferlen);

mavlink_message_handler.cpp

@@ -43,7 +43,7 @@ void MAVLink_Message_Handler::handle_message(uint64_t timestamp, mavlink_message
     case MAVLINK_MSG_ID_HEARTBEAT: {
         mavlink_heartbeat_t decoded;
         mavlink_msg_heartbeat_decode(&msg, &decoded);
-        handle_decoded_message(timestamp, decoded);
+        handle_decoded_message(timestamp, msg, decoded);
         break;
     }
     case MAVLINK_MSG_ID_MOUNT_STATUS: {

mavlink_message_handler.h

@@ -40,7 +40,7 @@ class MAVLink_Message_Handler : public Message_Handler {
     virtual void handle_decoded_message(uint64_t T UNUSED, mavlink_ekf_status_report_t &msg UNUSED) { }
     virtual void handle_decoded_message(uint64_t T UNUSED, mavlink_gps_raw_int_t &msg UNUSED) { }
     virtual void handle_decoded_message(uint64_t T UNUSED, mavlink_global_position_int_t &msg UNUSED) { }
-    virtual void handle_decoded_message(uint64_t T UNUSED, mavlink_heartbeat_t &msg UNUSED) { }
+    virtual void handle_decoded_message(uint64_t T UNUSED, mavlink_message_t &m UNUSED, mavlink_heartbeat_t &msg UNUSED) { }
     virtual void handle_decoded_message(uint64_t T UNUSED, mavlink_log_entry_t &msg UNUSED) { }
     virtual void handle_decoded_message(uint64_t T UNUSED, mavlink_log_data_t &msg UNUSED) { }
     virtual void handle_decoded_message(uint64_t T UNUSED, mavlink_mount_status_t &msg UNUSED) { }