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AC_WPNav: replace unnecessary objects with const refs

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Tobias 2013-08-12 15:58:16 +02:00 committed by Randy Mackay
parent c62f2e3d0c
commit 1ecb583dd9
1 changed files with 3 additions and 3 deletions
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6
libraries/AC_WPNav/AC_WPNav.cpp
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@ -386,7 +386,7 @@ void AC_WPNav::set_origin_and_destination(const Vector3f& origin, const Vector3f
_flags.reached_destination = false; _flags.reached_destination = false;
// initialise the limited speed to current speed along the track // initialise the limited speed to current speed along the track
Vector3f curr_vel = _inav->get_velocity(); const Vector3f &curr_vel = _inav->get_velocity();
// get speed along track (note: we convert vertical speed into horizontal speed equivalent) // get speed along track (note: we convert vertical speed into horizontal speed equivalent)
float speed_along_track = curr_vel.x * _pos_delta_unit.x + curr_vel.y * _pos_delta_unit.y + curr_vel.z * _pos_delta_unit.z; float speed_along_track = curr_vel.x * _pos_delta_unit.x + curr_vel.y * _pos_delta_unit.y + curr_vel.z * _pos_delta_unit.z;
_limited_speed_xy_cms = constrain_float(speed_along_track,0,_wp_speed_cms); _limited_speed_xy_cms = constrain_float(speed_along_track,0,_wp_speed_cms);
@ -437,7 +437,7 @@ void AC_WPNav::advance_target_along_track(float dt)
} }
// get current velocity // get current velocity
Vector3f curr_vel = _inav->get_velocity(); const Vector3f &curr_vel = _inav->get_velocity();
// get speed along track // get speed along track
float speed_along_track = curr_vel.x * _pos_delta_unit.x + curr_vel.y * _pos_delta_unit.y + curr_vel.z * _pos_delta_unit.z; float speed_along_track = curr_vel.x * _pos_delta_unit.x + curr_vel.y * _pos_delta_unit.y + curr_vel.z * _pos_delta_unit.z;
@ -619,7 +619,7 @@ void AC_WPNav::get_loiter_position_to_velocity(float dt, float max_speed_cms)
/// converts desired velocities in lat/lon directions to accelerations in lat/lon frame /// converts desired velocities in lat/lon directions to accelerations in lat/lon frame
void AC_WPNav::get_loiter_velocity_to_acceleration(float vel_lat, float vel_lon, float dt) void AC_WPNav::get_loiter_velocity_to_acceleration(float vel_lat, float vel_lon, float dt)
{ {
Vector3f vel_curr = _inav->get_velocity(); // current velocity in cm/s const Vector3f &vel_curr = _inav->get_velocity(); // current velocity in cm/s
Vector3f vel_error; // The velocity error in cm/s. Vector3f vel_error; // The velocity error in cm/s.
float accel_total; // total acceleration in cm/s/s float accel_total; // total acceleration in cm/s/s