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AP_InertialNav: make some more functions const

This commit is contained in:
Andrew Tridgell 2013-04-21 21:04:47 +10:00
parent 08c57c2587
commit 3d325043b0
2 changed files with 19 additions and 19 deletions
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14
libraries/AP_InertialNav/AP_InertialNav.cpp
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@ -111,7 +111,7 @@ void AP_InertialNav::set_time_constant_xy( float time_constant_in_seconds )
} }
// position_ok - return true if position has been initialised and have received gps data within 3 seconds // position_ok - return true if position has been initialised and have received gps data within 3 seconds
bool AP_InertialNav::position_ok() bool AP_InertialNav::position_ok() const
{ {
return _xy_enabled; return _xy_enabled;
} }
@ -180,7 +180,7 @@ void AP_InertialNav::correct_with_gps(int32_t lon, int32_t lat, float dt)
} }
// get accel based latitude // get accel based latitude
int32_t AP_InertialNav::get_latitude() int32_t AP_InertialNav::get_latitude() const
{ {
// make sure we've been initialised // make sure we've been initialised
if( !_xy_enabled ) { if( !_xy_enabled ) {
@ -191,7 +191,7 @@ int32_t AP_InertialNav::get_latitude()
} }
// get accel based longitude // get accel based longitude
int32_t AP_InertialNav::get_longitude() int32_t AP_InertialNav::get_longitude() const
{ {
// make sure we've been initialised // make sure we've been initialised
if( !_xy_enabled ) { if( !_xy_enabled ) {
@ -227,7 +227,7 @@ void AP_InertialNav::set_current_position(int32_t lon, int32_t lat)
} }
// get accel based latitude // get accel based latitude
float AP_InertialNav::get_latitude_diff() float AP_InertialNav::get_latitude_diff() const
{ {
// make sure we've been initialised // make sure we've been initialised
if( !_xy_enabled ) { if( !_xy_enabled ) {
@ -238,7 +238,7 @@ float AP_InertialNav::get_latitude_diff()
} }
// get accel based longitude // get accel based longitude
float AP_InertialNav::get_longitude_diff() float AP_InertialNav::get_longitude_diff() const
{ {
// make sure we've been initialised // make sure we've been initialised
if( !_xy_enabled ) { if( !_xy_enabled ) {
@ -249,7 +249,7 @@ float AP_InertialNav::get_longitude_diff()
} }
// get velocity in latitude & longitude directions // get velocity in latitude & longitude directions
float AP_InertialNav::get_latitude_velocity() float AP_InertialNav::get_latitude_velocity() const
{ {
// make sure we've been initialised // make sure we've been initialised
if( !_xy_enabled ) { if( !_xy_enabled ) {
@ -260,7 +260,7 @@ float AP_InertialNav::get_latitude_velocity()
// Note: is +_velocity.x the output velocity in logs is in reverse direction from accel lat // Note: is +_velocity.x the output velocity in logs is in reverse direction from accel lat
} }
float AP_InertialNav::get_longitude_velocity() float AP_InertialNav::get_longitude_velocity() const
{ {
// make sure we've been initialised // make sure we've been initialised
if( !_xy_enabled ) { if( !_xy_enabled ) {

24
libraries/AP_InertialNav/AP_InertialNav.h
View File

@ -54,7 +54,7 @@ public:
void set_time_constant_xy( float time_constant_in_seconds ); void set_time_constant_xy( float time_constant_in_seconds );
// altitude_ok, position_ok - true if inertial based altitude and position can be trusted // altitude_ok, position_ok - true if inertial based altitude and position can be trusted
bool position_ok(); bool position_ok() const;
// check_gps - check if new gps readings have arrived and use them to correct position estimates // check_gps - check if new gps readings have arrived and use them to correct position estimates
void check_gps(); void check_gps();
@ -63,25 +63,25 @@ public:
void correct_with_gps(int32_t lon, int32_t lat, float dt); void correct_with_gps(int32_t lon, int32_t lat, float dt);
// get_position - returns current position from home in cm // get_position - returns current position from home in cm
Vector3f get_position() { return _position_base + _position_correction; } Vector3f get_position() const { return _position_base + _position_correction; }
// get latitude & longitude positions // get latitude & longitude positions
int32_t get_latitude(); int32_t get_latitude() const;
int32_t get_longitude(); int32_t get_longitude() const;
// set_current_position - all internal calculations are recorded as the distances from this point // set_current_position - all internal calculations are recorded as the distances from this point
void set_current_position(int32_t lon, int32_t lat); void set_current_position(int32_t lon, int32_t lat);
// get latitude & longitude positions from base location (in cm) // get latitude & longitude positions from base location (in cm)
float get_latitude_diff(); float get_latitude_diff() const;
float get_longitude_diff(); float get_longitude_diff() const;
// get velocity in latitude & longitude directions (in cm/s) // get velocity in latitude & longitude directions (in cm/s)
float get_latitude_velocity(); float get_latitude_velocity() const;
float get_longitude_velocity(); float get_longitude_velocity() const;
// get_velocity - returns current velocity in cm/s // get_velocity - returns current velocity in cm/s
Vector3f get_velocity() { return _velocity; } Vector3f get_velocity() const { return _velocity; }
// set velocity in latitude & longitude directions (in cm/s) // set velocity in latitude & longitude directions (in cm/s)
void set_velocity_xy(float x, float y); void set_velocity_xy(float x, float y);
@ -94,7 +94,7 @@ public:
void set_time_constant_z( float time_constant_in_seconds ); void set_time_constant_z( float time_constant_in_seconds );
// altitude_ok, position_ok - true if inertial based altitude and position can be trusted // altitude_ok, position_ok - true if inertial based altitude and position can be trusted
bool altitude_ok() { return true; } bool altitude_ok() const { return true; }
// check_baro - check if new baro readings have arrived and use them to correct vertical accelerometer offsets // check_baro - check if new baro readings have arrived and use them to correct vertical accelerometer offsets
void check_baro(); void check_baro();
@ -103,11 +103,11 @@ public:
void correct_with_baro(float baro_alt, float dt); void correct_with_baro(float baro_alt, float dt);
// get_altitude - get latest altitude estimate in cm // get_altitude - get latest altitude estimate in cm
float get_altitude() { return _position_base.z + _position_correction.z; } float get_altitude() const { return _position_base.z + _position_correction.z; }
void set_altitude( float new_altitude); void set_altitude( float new_altitude);
// get_velocity_z - get latest climb rate (in cm/s) // get_velocity_z - get latest climb rate (in cm/s)
float get_velocity_z() { return _velocity.z; } float get_velocity_z() const { return _velocity.z; }
void set_velocity_z( float new_velocity ); void set_velocity_z( float new_velocity );
// class level parameters // class level parameters