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TradHeli: make accessor methods const

This commit is contained in:
Randy Mackay 2014-01-30 16:30:04 +09:00 committed by Andrew Tridgell
parent 48a0917670
commit 80ec61f217
2 changed files with 12 additions and 12 deletions
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4
libraries/AP_Motors/AP_MotorsHeli.cpp
View File

@ -331,7 +331,7 @@ void AP_MotorsHeli::output_test()
}
// allow_arming - returns true if main rotor is spinning and it is ok to arm
bool AP_MotorsHeli::allow_arming()
bool AP_MotorsHeli::allow_arming() const
{
// ensure main rotor has started
if (_rsc_mode != AP_MOTORS_HELI_RSC_MODE_NONE && _servo_rsc->control_in > 0) {
@ -349,7 +349,7 @@ void AP_MotorsHeli::set_desired_rotor_speed(int16_t desired_speed)
}
// return true if the main rotor is up to speed
bool AP_MotorsHeli::motor_runup_complete()
bool AP_MotorsHeli::motor_runup_complete() const
{
// if we have no control of motors, assume pilot has spun them up
if (_rsc_mode == AP_MOTORS_HELI_RSC_MODE_NONE) {

20
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -146,44 +146,44 @@ public:
//
// allow_arming - returns true if main rotor is spinning and it is ok to arm
bool allow_arming();
bool allow_arming() const;
// _tail_type - returns the tail type (servo, servo with ext gyro, direct drive var pitch, direct drive fixed pitch)
int16_t tail_type() { return _tail_type; }
int16_t tail_type() const { return _tail_type; }
// ext_gyro_gain - gets and sets external gyro gain as a pwm (1000~2000)
int16_t ext_gyro_gain() { return _ext_gyro_gain; }
int16_t ext_gyro_gain() const { return _ext_gyro_gain; }
void ext_gyro_gain(int16_t pwm) { _ext_gyro_gain = pwm; }
// has_flybar - returns true if we have a mechical flybar
bool has_flybar() { return _flybar_mode; }
bool has_flybar() const { return _flybar_mode; }
// get_collective_mid - returns collective mid position as a number from 0 ~ 1000
int16_t get_collective_mid() { return _collective_mid; }
int16_t get_collective_mid() const { return _collective_mid; }
// get_collective_out - returns collective position from last output as a number from 0 ~ 1000
int16_t get_collective_out() { return _collective_out; }
int16_t get_collective_out() const { return _collective_out; }
// set_collective_for_landing - limits collective from going too low if we know we are landed
void set_collective_for_landing(bool landing) { _heliflags.landing_collective = landing; }
// get_rsc_mode - gets the rotor speed control method (AP_MOTORS_HELI_RSC_MODE_NONE, AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH or AP_MOTORS_HELI_RSC_MODE_SETPOINT)
uint8_t get_rsc_mode() { return _rsc_mode; }
uint8_t get_rsc_mode() const { return _rsc_mode; }
// get_rsc_setpoint - gets contents of _rsc_setpoint parameter (0~1000)
int16_t get_rsc_setpoint() { return _rsc_setpoint; }
int16_t get_rsc_setpoint() const { return _rsc_setpoint; }
// set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1000
void set_desired_rotor_speed(int16_t desired_speed);
// return true if the main rotor is up to speed
bool motor_runup_complete();
bool motor_runup_complete() const;
// recalc_scalers - recalculates various scalers used. Should be called at about 1hz to allow users to see effect of changing parameters
void recalc_scalers();
// get_phase_angle - returns phase angle
int16_t get_phase_angle() { return _phase_angle; }
int16_t get_phase_angle() const { return _phase_angle; }
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];