Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-23 16:23:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_WPNav: constify get_wp_destination

Browse Source
This commit is contained in:
Randy Mackay 2019-08-09 18:06:38 +09:00
parent 53f8aa2b92
commit 6361a9a204
2 changed files with 3 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AC_WPNav/AC_WPNav.cpp
View File

@ -173,7 +173,8 @@ bool AC_WPNav::set_wp_destination(const Location& destination)
return set_wp_destination(dest_neu, terr_alt); return set_wp_destination(dest_neu, terr_alt);
} }
bool AC_WPNav::get_wp_destination(Location& destination) { bool AC_WPNav::get_wp_destination(Location& destination) const
{
Vector3f dest = get_wp_destination(); Vector3f dest = get_wp_destination();
if (!AP::ahrs().get_origin(destination)) { if (!AP::ahrs().get_origin(destination)) {
return false; return false;

2
libraries/AC_WPNav/AC_WPNav.h
View File

@ -104,7 +104,7 @@ public:
// returns wp location using location class. // returns wp location using location class.
// returns false if unable to convert from target vector to global // returns false if unable to convert from target vector to global
// coordinates // coordinates
bool get_wp_destination(Location& destination); bool get_wp_destination(Location& destination) const;
/// set_wp_destination waypoint using position vector (distance from ekf origin in cm) /// set_wp_destination waypoint using position vector (distance from ekf origin in cm)
/// terrain_alt should be true if destination.z is a desired altitude above terrain /// terrain_alt should be true if destination.z is a desired altitude above terrain