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Copter/position_vector: remove const specifiers on objects returned by

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Tobias 2013-08-13 18:22:28 +02:00 committed by Randy Mackay
parent 0b181dd995
commit a7e7084f27
1 changed files with 6 additions and 6 deletions
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12
ArduCopter/position_vector.pde
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@ -8,39 +8,39 @@
// .z = altitude above home in cm // .z = altitude above home in cm
// pv_latlon_to_vector - convert lat/lon coordinates to a position vector // pv_latlon_to_vector - convert lat/lon coordinates to a position vector
const Vector3f pv_latlon_to_vector(int32_t lat, int32_t lon, int32_t alt) Vector3f pv_latlon_to_vector(int32_t lat, int32_t lon, int32_t alt)
{ {
Vector3f tmp((lat-home.lat) * LATLON_TO_CM, (lon-home.lng) * LATLON_TO_CM * scaleLongDown, alt); Vector3f tmp((lat-home.lat) * LATLON_TO_CM, (lon-home.lng) * LATLON_TO_CM * scaleLongDown, alt);
return tmp; return tmp;
} }
// pv_latlon_to_vector - convert lat/lon coordinates to a position vector // pv_latlon_to_vector - convert lat/lon coordinates to a position vector
const Vector3f pv_location_to_vector(Location loc) Vector3f pv_location_to_vector(Location loc)
{ {
Vector3f tmp((loc.lat-home.lat) * LATLON_TO_CM, (loc.lng-home.lng) * LATLON_TO_CM * scaleLongDown, loc.alt); Vector3f tmp((loc.lat-home.lat) * LATLON_TO_CM, (loc.lng-home.lng) * LATLON_TO_CM * scaleLongDown, loc.alt);
return tmp; return tmp;
} }
// pv_get_lon - extract latitude from position vector // pv_get_lon - extract latitude from position vector
const int32_t pv_get_lat(const Vector3f pos_vec) int32_t pv_get_lat(const Vector3f pos_vec)
{ {
return home.lat + (int32_t)(pos_vec.x / LATLON_TO_CM); return home.lat + (int32_t)(pos_vec.x / LATLON_TO_CM);
} }
// pv_get_lon - extract longitude from position vector // pv_get_lon - extract longitude from position vector
const int32_t pv_get_lon(const Vector3f &pos_vec) int32_t pv_get_lon(const Vector3f &pos_vec)
{ {
return home.lng + (int32_t)(pos_vec.y / LATLON_TO_CM * scaleLongUp); return home.lng + (int32_t)(pos_vec.y / LATLON_TO_CM * scaleLongUp);
} }
// pv_get_horizontal_distance_cm - return distance between two positions in cm // pv_get_horizontal_distance_cm - return distance between two positions in cm
const float pv_get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination) float pv_get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination)
{ {
return pythagorous2(destination.x-origin.x,destination.y-origin.y); return pythagorous2(destination.x-origin.x,destination.y-origin.y);
} }
// pv_get_bearing_cd - return bearing in centi-degrees between two positions // pv_get_bearing_cd - return bearing in centi-degrees between two positions
const float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination) float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination)
{ {
float bearing = 9000 + atan2f(-(destination.x-origin.x), destination.y-origin.y) * DEGX100; float bearing = 9000 + atan2f(-(destination.x-origin.x), destination.y-origin.y) * DEGX100;
if (bearing < 0) { if (bearing < 0) {