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AHRS: make get_error_rp and get_error_yaw const

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This commit is contained in:
Randy Mackay 2015-04-21 22:41:46 +09:00
parent 18a73d8630
commit c6f71ea2e0
3 changed files with 6 additions and 6 deletions
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4
libraries/AP_AHRS/AP_AHRS.h
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@ -217,11 +217,11 @@ public:
// return the average size of the roll/pitch error estimate
// since last call
virtual float get_error_rp(void) = 0;
virtual float get_error_rp(void) const = 0;
// return the average size of the yaw error estimate
// since last call
virtual float get_error_yaw(void) = 0;
virtual float get_error_yaw(void) const = 0;
// return a DCM rotation matrix representing our current
// attitude

4
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -193,12 +193,12 @@ bool AP_AHRS_NavEKF::get_position(struct Location &loc) const
}
// status reporting of estimated errors
float AP_AHRS_NavEKF::get_error_rp(void)
float AP_AHRS_NavEKF::get_error_rp(void) const
{
return AP_AHRS_DCM::get_error_rp();
}
float AP_AHRS_NavEKF::get_error_yaw(void)
float AP_AHRS_NavEKF::get_error_yaw(void) const
{
return AP_AHRS_DCM::get_error_yaw();
}

4
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -64,8 +64,8 @@ public:
bool get_position(struct Location &loc) const;
// status reporting of estimated error
float get_error_rp(void);
float get_error_yaw(void);
float get_error_rp(void) const;
float get_error_yaw(void) const;
// return a wind estimation vector, in m/s
Vector3f wind_estimate(void);