From 12dd6e11fb4038c3644f5168baa91e0b6d656152 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 5 Jan 2017 15:19:47 +0900 Subject: [PATCH] AC_Avoidance: constify get_position --- libraries/AC_Avoidance/AC_Avoid.cpp | 2 +- libraries/AC_Avoidance/AC_Avoid.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AC_Avoidance/AC_Avoid.cpp b/libraries/AC_Avoidance/AC_Avoid.cpp index 7bd9b8ab51..a3d6e5a5fe 100644 --- a/libraries/AC_Avoidance/AC_Avoid.cpp +++ b/libraries/AC_Avoidance/AC_Avoid.cpp @@ -289,7 +289,7 @@ void AC_Avoid::limit_velocity(float kP, float accel_cmss, Vector2f &desired_vel, /* * Gets the current xy-position, relative to home (not relative to EKF origin) */ -Vector2f AC_Avoid::get_position() +Vector2f AC_Avoid::get_position() const { const Vector3f position_xyz = _inav.get_position(); const Vector2f position_xy(position_xyz.x,position_xyz.y); diff --git a/libraries/AC_Avoidance/AC_Avoid.h b/libraries/AC_Avoidance/AC_Avoid.h index 4590280377..087b3134a9 100644 --- a/libraries/AC_Avoidance/AC_Avoid.h +++ b/libraries/AC_Avoidance/AC_Avoid.h @@ -85,7 +85,7 @@ private: /* * Gets the current position, relative to home (not relative to EKF origin) */ - Vector2f get_position(); + Vector2f get_position() const; /* * Computes the speed such that the stopping distance