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AC_PosControl: make some methods const

This commit is contained in:
Randy Mackay 2014-01-27 23:42:49 +09:00 committed by Andrew Tridgell
parent 8268e27d49
commit 551836c49d
2 changed files with 7 additions and 5 deletions
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2
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -140,7 +140,7 @@ void AC_PosControl::set_target_to_stopping_point_z()
}
/// get_stopping_point_z - sets stopping_point.z to a reasonable stopping altitude in cm above home
void AC_PosControl::get_stopping_point_z(Vector3f& stopping_point)
void AC_PosControl::get_stopping_point_z(Vector3f& stopping_point) const
{
const float curr_pos_z = _inav.get_altitude();
const float curr_vel_z = _inav.get_velocity_z();

10
libraries/AC_AttitudeControl/AC_PosControl.h
View File

@ -111,7 +111,7 @@ public:
void set_target_to_stopping_point_z();
/// get_stopping_point_z - sets stopping_point.z to a reasonable stopping altitude in cm above home
void get_stopping_point_z(Vector3f& stopping_point);
void get_stopping_point_z(Vector3f& stopping_point) const;
/// init_takeoff - initialises target altitude if we are taking off
void init_takeoff();
@ -120,11 +120,11 @@ public:
void update_z_controller();
// get_leash_down_z, get_leash_up_z - returns vertical leash lengths in cm
float get_leash_down_z() { return _leash_down_z; }
float get_leash_up_z() { return _leash_up_z; }
float get_leash_down_z() const { return _leash_down_z; }
float get_leash_up_z() const { return _leash_up_z; }
/// althold_kP - returns altitude hold position control PID's kP gain
float althold_kP() { return _pi_alt_pos.kP(); }
float althold_kP() const { return _pi_alt_pos.kP(); }
///
/// xy position controller
@ -133,10 +133,12 @@ public:
/// set_accel_xy - set horizontal acceleration in cm/s/s
/// calc_leash_length_xy should be called afterwards
void set_accel_xy(float accel_cmss);
float get_accel_xy() const { return _accel_cms; }
/// set_speed_xy - set horizontal speed maximum in cm/s
/// calc_leash_length_xy should be called afterwards
void set_speed_xy(float speed_cms);
float get_speed_xy() const { return _speed_cms; }
/// calc_leash_length - calculates the horizontal leash length given a maximum speed, acceleration
/// should be called whenever the speed, acceleration or position kP is modified