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AC_WPNav: make member pointer to AP_InertialNav object const since it's

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never modified
This commit is contained in:
Tobias 2013-07-24 16:26:30 +02:00 committed by Randy Mackay
parent b94d6848de
commit bb5cf4a311
2 changed files with 4 additions and 4 deletions
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2
libraries/AC_WPNav/AC_WPNav.cpp
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@ -68,7 +68,7 @@ const AP_Param::GroupInfo AC_WPNav::var_info[] PROGMEM = {
// Note that the Vector/Matrix constructors already implicitly zero
// their values.
//
AC_WPNav::AC_WPNav(AP_InertialNav* inav, AP_AHRS* ahrs, APM_PI* pid_pos_lat, APM_PI* pid_pos_lon, AC_PID* pid_rate_lat, AC_PID* pid_rate_lon) :
AC_WPNav::AC_WPNav(const AP_InertialNav* inav, AP_AHRS* ahrs, APM_PI* pid_pos_lat, APM_PI* pid_pos_lon, AC_PID* pid_rate_lat, AC_PID* pid_rate_lon) :
_inav(inav),
_ahrs(ahrs),
_pid_pos_lat(pid_pos_lat),

6
libraries/AC_WPNav/AC_WPNav.h
View File

@ -40,7 +40,7 @@ class AC_WPNav
public:
/// Constructor
AC_WPNav(AP_InertialNav* inav, AP_AHRS* ahrs, APM_PI* pid_pos_lat, APM_PI* pid_pos_lon, AC_PID* pid_rate_lat, AC_PID* pid_rate_lon);
AC_WPNav(const AP_InertialNav* inav, AP_AHRS* ahrs, APM_PI* pid_pos_lat, APM_PI* pid_pos_lon, AC_PID* pid_rate_lat, AC_PID* pid_rate_lon);
///
/// simple loiter controller
@ -183,8 +183,8 @@ protected:
/// set climb param to true if track climbs vertically, false if descending
void calculate_wp_leash_length(bool climb);
// pointers to inertial nav and ahrs libraries
AP_InertialNav* _inav;
// references to inertial nav and ahrs libraries
const AP_InertialNav* const _inav;
AP_AHRS* _ahrs;
// pointers to pid controllers