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RC_Channel: add const keyword to many methods

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This commit is contained in:
Peter Barker 2018-10-13 09:56:44 +11:00 committed by Peter Barker
parent b74ae2d912
commit c7d052eec8
2 changed files with 20 additions and 20 deletions
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20
libraries/RC_Channel/RC_Channel.cpp
View File

@ -182,7 +182,7 @@ int16_t RC_Channel::get_control_mid() const
the current radio_in value using the specified dead_zone
*/
int16_t
RC_Channel::pwm_to_angle_dz_trim(uint16_t _dead_zone, uint16_t _trim)
RC_Channel::pwm_to_angle_dz_trim(uint16_t _dead_zone, uint16_t _trim) const
{
int16_t radio_trim_high = _trim + _dead_zone;
int16_t radio_trim_low = _trim - _dead_zone;
@ -202,7 +202,7 @@ RC_Channel::pwm_to_angle_dz_trim(uint16_t _dead_zone, uint16_t _trim)
the current radio_in value using the specified dead_zone
*/
int16_t
RC_Channel::pwm_to_angle_dz(uint16_t _dead_zone)
RC_Channel::pwm_to_angle_dz(uint16_t _dead_zone) const
{
return pwm_to_angle_dz_trim(_dead_zone, radio_trim);
}
@ -212,7 +212,7 @@ RC_Channel::pwm_to_angle_dz(uint16_t _dead_zone)
the current radio_in value
*/
int16_t
RC_Channel::pwm_to_angle()
RC_Channel::pwm_to_angle() const
{
return pwm_to_angle_dz(dead_zone);
}
@ -223,7 +223,7 @@ RC_Channel::pwm_to_angle()
range, using the specified deadzone
*/
int16_t
RC_Channel::pwm_to_range_dz(uint16_t _dead_zone)
RC_Channel::pwm_to_range_dz(uint16_t _dead_zone) const
{
int16_t r_in = constrain_int16(radio_in, radio_min.get(), radio_max.get());
@ -244,13 +244,13 @@ RC_Channel::pwm_to_range_dz(uint16_t _dead_zone)
range
*/
int16_t
RC_Channel::pwm_to_range()
RC_Channel::pwm_to_range() const
{
return pwm_to_range_dz(dead_zone);
}
int16_t RC_Channel::get_control_in_zero_dz(void)
int16_t RC_Channel::get_control_in_zero_dz(void) const
{
if (type_in == RC_CHANNEL_TYPE_RANGE) {
return pwm_to_range_dz(0);
@ -261,7 +261,7 @@ int16_t RC_Channel::get_control_in_zero_dz(void)
// ------------------------------------------
float
RC_Channel::norm_input()
RC_Channel::norm_input() const
{
float ret;
int16_t reverse_mul = (reversed?-1:1);
@ -280,7 +280,7 @@ RC_Channel::norm_input()
}
float
RC_Channel::norm_input_dz()
RC_Channel::norm_input_dz() const
{
int16_t dz_min = radio_trim - dead_zone;
int16_t dz_max = radio_trim + dead_zone;
@ -300,7 +300,7 @@ RC_Channel::norm_input_dz()
get percentage input from 0 to 100. This ignores the trim value.
*/
uint8_t
RC_Channel::percent_input()
RC_Channel::percent_input() const
{
if (radio_in <= radio_min) {
return reversed?100:0;
@ -318,7 +318,7 @@ RC_Channel::percent_input()
/*
Return true if the channel is at trim and within the DZ
*/
bool RC_Channel::in_trim_dz()
bool RC_Channel::in_trim_dz() const
{
return is_bounded_int32(radio_in, radio_trim - dead_zone, radio_trim + dead_zone);
}

20
libraries/RC_Channel/RC_Channel.h
View File

@ -50,28 +50,28 @@ public:
// calculate an angle given dead_zone and trim. This is used by the quadplane code
// for hover throttle
int16_t pwm_to_angle_dz_trim(uint16_t dead_zone, uint16_t trim);
int16_t pwm_to_angle_dz_trim(uint16_t dead_zone, uint16_t trim) const;
/*
return a normalised input for a channel, in range -1 to 1,
centered around the channel trim. Ignore deadzone.
*/
float norm_input();
float norm_input() const;
/*
return a normalised input for a channel, in range -1 to 1,
centered around the channel trim. Take into account the deadzone
*/
float norm_input_dz();
float norm_input_dz() const;
uint8_t percent_input();
int16_t pwm_to_range();
int16_t pwm_to_range_dz(uint16_t dead_zone);
uint8_t percent_input() const;
int16_t pwm_to_range() const;
int16_t pwm_to_range_dz(uint16_t dead_zone) const;
static const struct AP_Param::GroupInfo var_info[];
// return true if input is within deadzone of trim
bool in_trim_dz();
bool in_trim_dz() const;
int16_t get_radio_in() const { return radio_in;}
void set_radio_in(int16_t val) {radio_in = val;}
@ -84,7 +84,7 @@ public:
bool has_override() const;
// get control input with zero deadzone
int16_t get_control_in_zero_dz(void);
int16_t get_control_in_zero_dz(void) const;
int16_t get_radio_min() const {return radio_min.get();}
void set_radio_min(int16_t val) { radio_min = val;}
@ -227,8 +227,8 @@ private:
uint16_t override_value;
uint32_t last_override_time;
int16_t pwm_to_angle();
int16_t pwm_to_angle_dz(uint16_t dead_zone);
int16_t pwm_to_angle() const;
int16_t pwm_to_angle_dz(uint16_t dead_zone) const;
// pwm value above which the option will be invoked:
static const uint16_t AUX_PWM_TRIGGER_HIGH = 1800;