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AC_AttitudeControl: pass vector by const reference

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Pierre Kancir 2018-12-20 10:10:02 +01:00 committed by Randy Mackay
parent aa85b281e3
commit 96e629d83e
2 changed files with 6 additions and 6 deletions
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6
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -670,7 +670,7 @@ float AC_AttitudeControl::input_shaping_ang_vel(float target_ang_vel, float desi
// calculates the expected angular velocity correction from an angle error based on the AC_AttitudeControl settings. // calculates the expected angular velocity correction from an angle error based on the AC_AttitudeControl settings.
// This function can be used to predict the delay associated with angle requests. // This function can be used to predict the delay associated with angle requests.
void AC_AttitudeControl::input_shaping_rate_predictor(Vector2f error_angle, Vector2f& target_ang_vel, float dt) const void AC_AttitudeControl::input_shaping_rate_predictor(const Vector2f &error_angle, Vector2f& target_ang_vel, float dt) const
{ {
if (_rate_bf_ff_enabled) { if (_rate_bf_ff_enabled) {
// translate the roll pitch and yaw acceleration limits to the euler axis // translate the roll pitch and yaw acceleration limits to the euler axis
@ -712,7 +712,7 @@ void AC_AttitudeControl::ang_vel_limit(Vector3f& euler_rad, float ang_vel_roll_m
} }
// translates body frame acceleration limits to the euler axis // translates body frame acceleration limits to the euler axis
Vector3f AC_AttitudeControl::euler_accel_limit(Vector3f euler_rad, Vector3f euler_accel) Vector3f AC_AttitudeControl::euler_accel_limit(const Vector3f &euler_rad, const Vector3f &euler_accel)
{ {
float sin_phi = constrain_float(fabsf(sinf(euler_rad.x)), 0.1f, 1.0f); float sin_phi = constrain_float(fabsf(sinf(euler_rad.x)), 0.1f, 1.0f);
float cos_phi = constrain_float(fabsf(cosf(euler_rad.x)), 0.1f, 1.0f); float cos_phi = constrain_float(fabsf(cosf(euler_rad.x)), 0.1f, 1.0f);
@ -789,7 +789,7 @@ bool AC_AttitudeControl::ang_vel_to_euler_rate(const Vector3f& euler_rad, const
} }
// Update rate_target_ang_vel using attitude_error_rot_vec_rad // Update rate_target_ang_vel using attitude_error_rot_vec_rad
Vector3f AC_AttitudeControl::update_ang_vel_target_from_att_error(Vector3f attitude_error_rot_vec_rad) Vector3f AC_AttitudeControl::update_ang_vel_target_from_att_error(const Vector3f &attitude_error_rot_vec_rad)
{ {
Vector3f rate_target_ang_vel; Vector3f rate_target_ang_vel;
// Compute the roll angular velocity demand from the roll angle error // Compute the roll angular velocity demand from the roll angle error

6
libraries/AC_AttitudeControl/AC_AttitudeControl.h
View File

@ -251,13 +251,13 @@ public:
// calculates the expected angular velocity correction from an angle error based on the AC_AttitudeControl settings. // calculates the expected angular velocity correction from an angle error based on the AC_AttitudeControl settings.
// This function can be used to predict the delay associated with angle requests. // This function can be used to predict the delay associated with angle requests.
void input_shaping_rate_predictor(Vector2f error_angle, Vector2f& target_ang_vel, float dt) const; void input_shaping_rate_predictor(const Vector2f &error_angle, Vector2f& target_ang_vel, float dt) const;
// translates body frame acceleration limits to the euler axis // translates body frame acceleration limits to the euler axis
void ang_vel_limit(Vector3f& euler_rad, float ang_vel_roll_max, float ang_vel_pitch_max, float ang_vel_yaw_max) const; void ang_vel_limit(Vector3f& euler_rad, float ang_vel_roll_max, float ang_vel_pitch_max, float ang_vel_yaw_max) const;
// translates body frame acceleration limits to the euler axis // translates body frame acceleration limits to the euler axis
Vector3f euler_accel_limit(Vector3f euler_rad, Vector3f euler_accel); Vector3f euler_accel_limit(const Vector3f &euler_rad, const Vector3f &euler_accel);
// thrust_heading_rotation_angles - calculates two ordered rotations to move the att_from_quat quaternion to the att_to_quat quaternion. // thrust_heading_rotation_angles - calculates two ordered rotations to move the att_from_quat quaternion to the att_to_quat quaternion.
// The first rotation corrects the thrust vector and the second rotation corrects the heading vector. // The first rotation corrects the thrust vector and the second rotation corrects the heading vector.
@ -300,7 +300,7 @@ public:
protected: protected:
// Update rate_target_ang_vel using attitude_error_rot_vec_rad // Update rate_target_ang_vel using attitude_error_rot_vec_rad
Vector3f update_ang_vel_target_from_att_error(Vector3f attitude_error_rot_vec_rad); Vector3f update_ang_vel_target_from_att_error(const Vector3f &attitude_error_rot_vec_rad);
// Run the roll angular velocity PID controller and return the output // Run the roll angular velocity PID controller and return the output
float rate_target_to_motor_roll(float rate_actual_rads, float rate_target_rads); float rate_target_to_motor_roll(float rate_actual_rads, float rate_target_rads);