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AP_InertialNav: get_velocity_xy const

This commit is contained in:
Randy Mackay 2014-04-21 21:58:42 +09:00
parent 5fc071f5f9
commit 0e065e4894
4 changed files with 4 additions and 4 deletions
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2
libraries/AP_InertialNav/AP_InertialNav.cpp
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@ -281,7 +281,7 @@ void AP_InertialNav::set_velocity_xy(float x, float y)
}
// set_velocity_xy - set velocity in latitude & longitude directions (in cm/s)
float AP_InertialNav::get_velocity_xy()
float AP_InertialNav::get_velocity_xy() const
{
return pythagorous2(_velocity.x, _velocity.y);
}

2
libraries/AP_InertialNav/AP_InertialNav.h
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@ -129,7 +129,7 @@ public:
*
* @returns the current horizontal velocity in cm/s
*/
virtual float get_velocity_xy();
virtual float get_velocity_xy() const;
/**
* set_velocity_xy - overwrites the current horizontal velocity in cm/s

2
libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
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@ -137,7 +137,7 @@ const Vector3f &AP_InertialNav_NavEKF::get_velocity() const
*
* @returns the current horizontal velocity in cm/s
*/
float AP_InertialNav_NavEKF::get_velocity_xy()
float AP_InertialNav_NavEKF::get_velocity_xy() const
{
if (_ahrs.have_inertial_nav()) {
return pythagorous2(_velocity_cm.x, _velocity_cm.y);

2
libraries/AP_InertialNav/AP_InertialNav_NavEKF.h
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@ -84,7 +84,7 @@ public:
*
* @returns the current horizontal velocity in cm/s
*/
float get_velocity_xy();
float get_velocity_xy() const;
/**
* altitude_ok - returns true if inertial based altitude and position can be trusted