Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-05 23:43:58 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Mission: const writing of commands to storage

Browse Source
This commit is contained in:
Peter Barker 2019-01-30 20:20:20 +11:00 committed by Randy Mackay
parent b2c5d7f04a
commit 402be4eaca
2 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_Mission/AP_Mission.cpp
View File

@ -320,7 +320,7 @@ bool AP_Mission::add_cmd(Mission_Command& cmd)
/// replace_cmd - replaces the command at position 'index' in the command list with the provided cmd /// replace_cmd - replaces the command at position 'index' in the command list with the provided cmd
/// replacing the current active command will have no effect until the command is restarted /// replacing the current active command will have no effect until the command is restarted
/// returns true if successfully replaced, false on failure /// returns true if successfully replaced, false on failure
bool AP_Mission::replace_cmd(uint16_t index, Mission_Command& cmd) bool AP_Mission::replace_cmd(uint16_t index, const Mission_Command& cmd)
{ {
// sanity check index // sanity check index
if (index >= (unsigned)_cmd_total) { if (index >= (unsigned)_cmd_total) {
@ -586,7 +586,7 @@ bool AP_Mission::stored_in_location(uint16_t id)
/// write_cmd_to_storage - write a command to storage /// write_cmd_to_storage - write a command to storage
/// index is used to calculate the storage location /// index is used to calculate the storage location
/// true is returned if successful /// true is returned if successful
bool AP_Mission::write_cmd_to_storage(uint16_t index, Mission_Command& cmd) bool AP_Mission::write_cmd_to_storage(uint16_t index, const Mission_Command& cmd)
{ {
WITH_SEMAPHORE(_rsem); WITH_SEMAPHORE(_rsem);

4
libraries/AP_Mission/AP_Mission.h
View File

@ -381,7 +381,7 @@ public:
/// replace_cmd - replaces the command at position 'index' in the command list with the provided cmd /// replace_cmd - replaces the command at position 'index' in the command list with the provided cmd
/// replacing the current active command will have no effect until the command is restarted /// replacing the current active command will have no effect until the command is restarted
/// returns true if successfully replaced, false on failure /// returns true if successfully replaced, false on failure
bool replace_cmd(uint16_t index, Mission_Command& cmd); bool replace_cmd(uint16_t index, const Mission_Command& cmd);
/// is_nav_cmd - returns true if the command's id is a "navigation" command, false if "do" or "conditional" command /// is_nav_cmd - returns true if the command's id is a "navigation" command, false if "do" or "conditional" command
static bool is_nav_cmd(const Mission_Command& cmd); static bool is_nav_cmd(const Mission_Command& cmd);
@ -433,7 +433,7 @@ public:
/// write_cmd_to_storage - write a command to storage /// write_cmd_to_storage - write a command to storage
/// cmd.index is used to calculate the storage location /// cmd.index is used to calculate the storage location
/// true is returned if successful /// true is returned if successful
bool write_cmd_to_storage(uint16_t index, Mission_Command& cmd); bool write_cmd_to_storage(uint16_t index, const Mission_Command& cmd);
/// write_home_to_storage - writes the special purpose cmd 0 (home) to storage /// write_home_to_storage - writes the special purpose cmd 0 (home) to storage
/// home is taken directly from ahrs /// home is taken directly from ahrs