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AC_AutoTune: Add missing const in member functions

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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2021-02-01 13:26:25 -03:00 committed by Andrew Tridgell
parent e3d018c401
commit 0ecbaa867d
2 changed files with 4 additions and 4 deletions
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4
libraries/AC_AutoTune/AC_AutoTune.cpp
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@ -1234,7 +1234,7 @@ void AC_AutoTune::save_tuning_gains()
} }
// update_gcs - send message to ground station // update_gcs - send message to ground station
void AC_AutoTune::update_gcs(uint8_t message_id) void AC_AutoTune::update_gcs(uint8_t message_id) const
{ {
switch (message_id) { switch (message_id) {
case AUTOTUNE_MESSAGE_STARTED: case AUTOTUNE_MESSAGE_STARTED:
@ -1392,7 +1392,7 @@ void AC_AutoTune::twitching_test_angle(float angle, float rate, float angle_targ
} }
// twitching_measure_acceleration - measure rate of change of measurement // twitching_measure_acceleration - measure rate of change of measurement
void AC_AutoTune::twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max) void AC_AutoTune::twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max) const
{ {
if (rate_measurement_max < rate_measurement) { if (rate_measurement_max < rate_measurement) {
rate_measurement_max = rate_measurement; rate_measurement_max = rate_measurement;

4
libraries/AC_AutoTune/AC_AutoTune.h
View File

@ -82,14 +82,14 @@ private:
void load_tuned_gains(); void load_tuned_gains();
void load_intra_test_gains(); void load_intra_test_gains();
void load_twitch_gains(); void load_twitch_gains();
void update_gcs(uint8_t message_id); void update_gcs(uint8_t message_id) const;
bool roll_enabled(); bool roll_enabled();
bool pitch_enabled(); bool pitch_enabled();
bool yaw_enabled(); bool yaw_enabled();
void twitching_test_rate(float rate, float rate_target, float &meas_rate_min, float &meas_rate_max); void twitching_test_rate(float rate, float rate_target, float &meas_rate_min, float &meas_rate_max);
void twitching_abort_rate(float angle, float rate, float angle_max, float meas_rate_min); void twitching_abort_rate(float angle, float rate, float angle_max, float meas_rate_min);
void twitching_test_angle(float angle, float rate, float angle_target, float &meas_angle_min, float &meas_angle_max, float &meas_rate_min, float &meas_rate_max); void twitching_test_angle(float angle, float rate, float angle_target, float &meas_angle_min, float &meas_angle_max, float &meas_rate_min, float &meas_rate_max);
void twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max); void twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max) const;
void updating_rate_d_up(float &tune_d, float tune_d_min, float tune_d_max, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float rate_target, float meas_rate_min, float meas_rate_max); void updating_rate_d_up(float &tune_d, float tune_d_min, float tune_d_max, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float rate_target, float meas_rate_min, float meas_rate_max);
void updating_rate_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float rate_target, float meas_rate_min, float meas_rate_max); void updating_rate_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float rate_target, float meas_rate_min, float meas_rate_max);
void updating_rate_p_up_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float rate_target, float meas_rate_min, float meas_rate_max); void updating_rate_p_up_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float rate_target, float meas_rate_min, float meas_rate_max);