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Copter: use const references for Vector3f parameters

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this is more efficient than passing a whole structure on the stack

Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
This commit is contained in:
Andrew Tridgell 2013-08-05 10:19:19 +10:00
parent c4f11e6c74
commit 086c7d70d8
1 changed files with 4 additions and 4 deletions
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6
ArduCopter/position_vector.pde
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@ -28,19 +28,19 @@ const int32_t pv_get_lat(const Vector3f pos_vec)
} }
// pv_get_lon - extract longitude from position vector // pv_get_lon - extract longitude from position vector
const int32_t pv_get_lon(const Vector3f pos_vec) const int32_t pv_get_lon(const Vector3f &pos_vec)
{ {
return home.lng + (int32_t)(pos_vec.y / LATLON_TO_CM * scaleLongUp); return home.lng + (int32_t)(pos_vec.y / LATLON_TO_CM * scaleLongUp);
} }
// pv_get_horizontal_distance_cm - return distance between two positions in cm // pv_get_horizontal_distance_cm - return distance between two positions in cm
const float pv_get_horizontal_distance_cm(const Vector3f origin, const Vector3f destination) const float pv_get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination)
{ {
return pythagorous2(destination.x-origin.x,destination.y-origin.y); return pythagorous2(destination.x-origin.x,destination.y-origin.y);
} }
// pv_get_bearing_cd - return bearing in centi-degrees between two positions // pv_get_bearing_cd - return bearing in centi-degrees between two positions
const float pv_get_bearing_cd(const Vector3f origin, const Vector3f destination) const float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination)
{ {
float bearing = 9000 + atan2f(-(destination.x-origin.x), destination.y-origin.y) * DEGX100; float bearing = 9000 + atan2f(-(destination.x-origin.x), destination.y-origin.y) * DEGX100;
if (bearing < 0) { if (bearing < 0) {