Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 15:53:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_AHRS: added const for PersistentData

Browse Source
This commit is contained in:
Andrew Tridgell 2019-05-15 14:12:15 +10:00
parent f55d9140e2
commit 670015b30e
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_AHRS/AP_AHRS_DCM.cpp
View File

@ -50,7 +50,7 @@ AP_AHRS_DCM::reset_gyro_drift(void)
/* if this was a watchdog reset then get home from backup registers */ /* if this was a watchdog reset then get home from backup registers */
void AP_AHRS_DCM::load_watchdog_home() void AP_AHRS_DCM::load_watchdog_home()
{ {
AP_HAL::Util::PersistentData &pd = hal.util->persistent_data; const AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
if (hal.util->was_watchdog_reset() && (pd.home_lat != 0 || pd.home_lon != 0)) { if (hal.util->was_watchdog_reset() && (pd.home_lat != 0 || pd.home_lon != 0)) {
_home.lat = pd.home_lat; _home.lat = pd.home_lat;
_home.lng = pd.home_lon; _home.lng = pd.home_lon;
@ -187,7 +187,7 @@ AP_AHRS_DCM::reset(bool recover_eulers)
// attitude then calculate the dcm matrix from the current // attitude then calculate the dcm matrix from the current
// roll/pitch/yaw values // roll/pitch/yaw values
if (hal.util->was_watchdog_reset() && AP_HAL::millis() < 10000) { if (hal.util->was_watchdog_reset() && AP_HAL::millis() < 10000) {
AP_HAL::Util::PersistentData &pd = hal.util->persistent_data; const AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
roll = pd.roll_rad; roll = pd.roll_rad;
pitch = pd.pitch_rad; pitch = pd.pitch_rad;
yaw = pd.yaw_rad; yaw = pd.yaw_rad;