Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 01:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_InertialNav: get_velocity_xy const

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_InertialNav/AP_InertialNav.cpp
View File

@ -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) // 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); return pythagorous2(_velocity.x, _velocity.y);
} }

2
libraries/AP_InertialNav/AP_InertialNav.h
View File

@ -129,7 +129,7 @@ public:
* *
* @returns the current horizontal velocity in cm/s * @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 * set_velocity_xy - overwrites the current horizontal velocity in cm/s

2
libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
View File

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

2
libraries/AP_InertialNav/AP_InertialNav_NavEKF.h
View File

@ -84,7 +84,7 @@ public:
* *
* @returns the current horizontal velocity in cm/s * @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 * altitude_ok - returns true if inertial based altitude and position can be trusted