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Rover: reached_destination becomes const

This commit is contained in:
Randy Mackay 2019-03-15 13:26:01 +09:00
parent 3f8adb4e7d
commit 95d68b0cf5
3 changed files with 7 additions and 7 deletions
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10
APMrover2/mode.h
View File

@ -107,7 +107,7 @@ public:
bool set_desired_location_NED(const Vector3f& destination, float next_leg_bearing_cd = MODE_NEXT_HEADING_UNKNOWN);
// true if vehicle has reached desired location. defaults to true because this is normally used by missions and we do not want the mission to become stuck
virtual bool reached_destination() { return true; }
virtual bool reached_destination() const { return true; }
// set desired heading and speed - supported in Auto and Guided modes
virtual void set_desired_heading_and_speed(float yaw_angle_cd, float target_speed);
@ -265,7 +265,7 @@ public:
// set desired location, heading and speed
void set_desired_location(const struct Location& destination, float next_leg_bearing_cd = MODE_NEXT_HEADING_UNKNOWN) override;
bool reached_destination() override;
bool reached_destination() const override;
// heading and speed control
void set_desired_heading_and_speed(float yaw_angle_cd, float target_speed) override;
@ -378,7 +378,7 @@ public:
float get_distance_to_destination() const override;
// return true if vehicle has reached destination
bool reached_destination() override;
bool reached_destination() const override;
// set desired location, heading and speed
void set_desired_location(const struct Location& destination, float next_leg_bearing_cd = MODE_NEXT_HEADING_UNKNOWN) override;
@ -507,7 +507,7 @@ public:
bool is_autopilot_mode() const override { return true; }
float get_distance_to_destination() const override { return _distance_to_destination; }
bool reached_destination() override { return _reached_destination; }
bool reached_destination() const override { return _reached_destination; }
protected:
@ -528,7 +528,7 @@ public:
bool is_autopilot_mode() const override { return true; }
float get_distance_to_destination() const override { return _distance_to_destination; }
bool reached_destination() override { return smart_rtl_state == SmartRTL_StopAtHome; }
bool reached_destination() const override { return smart_rtl_state == SmartRTL_StopAtHome; }
// save current position for use by the smart_rtl flight mode
void save_position();

2
APMrover2/mode_auto.cpp
View File

@ -124,7 +124,7 @@ void ModeAuto::set_desired_location(const struct Location& destination, float ne
}
// return true if vehicle has reached or even passed destination
bool ModeAuto::reached_destination()
bool ModeAuto::reached_destination() const
{
switch (_submode) {
case Auto_WP:

2
APMrover2/mode_guided.cpp
View File

@ -117,7 +117,7 @@ float ModeGuided::get_distance_to_destination() const
}
// return true if vehicle has reached or even passed destination
bool ModeGuided::reached_destination()
bool ModeGuided::reached_destination() const
{
switch (_guided_mode) {
case Guided_WP: