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Copter: mark position_ok methods as const

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This commit is contained in:
Peter Barker 2019-07-05 10:12:57 +10:00 committed by Andrew Tridgell
parent c8353c1c13
commit 05925b57ad
2 changed files with 6 additions and 6 deletions
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6
ArduCopter/Copter.h
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@ -839,9 +839,9 @@ private:
// system.cpp // system.cpp
void init_ardupilot(); void init_ardupilot();
void startup_INS_ground(); void startup_INS_ground();
bool position_ok(); bool position_ok() const;
bool ekf_position_ok(); bool ekf_position_ok() const;
bool optflow_position_ok(); bool optflow_position_ok() const;
void update_auto_armed(); void update_auto_armed();
bool should_log(uint32_t mask); bool should_log(uint32_t mask);
MAV_TYPE get_frame_mav_type(); MAV_TYPE get_frame_mav_type();

6
ArduCopter/system.cpp
View File

@ -272,7 +272,7 @@ void Copter::startup_INS_ground()
} }
// position_ok - returns true if the horizontal absolute position is ok and home position is set // position_ok - returns true if the horizontal absolute position is ok and home position is set
bool Copter::position_ok() bool Copter::position_ok() const
{ {
// return false if ekf failsafe has triggered // return false if ekf failsafe has triggered
if (failsafe.ekf) { if (failsafe.ekf) {
@ -284,7 +284,7 @@ bool Copter::position_ok()
} }
// ekf_position_ok - returns true if the ekf claims it's horizontal absolute position estimate is ok and home position is set // ekf_position_ok - returns true if the ekf claims it's horizontal absolute position estimate is ok and home position is set
bool Copter::ekf_position_ok() bool Copter::ekf_position_ok() const
{ {
if (!ahrs.have_inertial_nav()) { if (!ahrs.have_inertial_nav()) {
// do not allow navigation with dcm position // do not allow navigation with dcm position
@ -304,7 +304,7 @@ bool Copter::ekf_position_ok()
} }
// optflow_position_ok - returns true if optical flow based position estimate is ok // optflow_position_ok - returns true if optical flow based position estimate is ok
bool Copter::optflow_position_ok() bool Copter::optflow_position_ok() const
{ {
#if OPTFLOW != ENABLED && VISUAL_ODOMETRY_ENABLED != ENABLED #if OPTFLOW != ENABLED && VISUAL_ODOMETRY_ENABLED != ENABLED
return false; return false;