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Copter: constify some ModeThrow methods

This commit is contained in:
Peter Barker 2021-07-02 16:06:42 +10:00 committed by Randy Mackay
parent 53e980bada
commit 21f8ff4a4e
2 changed files with 6 additions and 6 deletions
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6
ArduCopter/mode.h
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@ -1465,9 +1465,9 @@ protected:
private:
bool throw_detected();
bool throw_position_good();
bool throw_height_good();
bool throw_attitude_good();
bool throw_position_good() const;
bool throw_height_good() const;
bool throw_attitude_good() const;
// Throw stages
enum ThrowModeStage {

6
ArduCopter/mode_throw.cpp
View File

@ -276,20 +276,20 @@ bool ModeThrow::throw_detected()
return throw_condition_confirmed;
}
bool ModeThrow::throw_attitude_good()
bool ModeThrow::throw_attitude_good() const
{
// Check that we have uprighted the copter
const Matrix3f &rotMat = ahrs.get_rotation_body_to_ned();
return (rotMat.c.z > 0.866f); // is_upright
}
bool ModeThrow::throw_height_good()
bool ModeThrow::throw_height_good() const
{
// Check that we are within 0.5m of the demanded height
return (pos_control->get_pos_error_z_cm() < 50.0f);
}
bool ModeThrow::throw_position_good()
bool ModeThrow::throw_position_good() const
{
// check that our horizontal position error is within 50cm
return (pos_control->get_pos_error_xy_cm() < 50.0f);