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AP_Mount: Add missing const in member functions

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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2021-02-01 13:26:31 -03:00 committed by Andrew Tridgell
parent bdc14c60fb
commit cc39e36ee1
2 changed files with 9 additions and 9 deletions
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8
libraries/AP_Mount/SoloGimbal.cpp
View File

@ -337,7 +337,7 @@ Vector3f SoloGimbal::get_ang_vel_dem_roll_tilt(const Quaternion &quatEst)
return gimbalRateDemVecTilt;
}
Vector3f SoloGimbal::get_ang_vel_dem_feedforward(const Quaternion &quatEst)
Vector3f SoloGimbal::get_ang_vel_dem_feedforward(const Quaternion &quatEst) const
{
// quaternion demanded at the previous time step
static float lastDemY;
@ -481,7 +481,7 @@ void SoloGimbal::write_logs()
_log_del_vel.zero();
}
bool SoloGimbal::joints_near_limits()
bool SoloGimbal::joints_near_limits() const
{
return fabsf(_measurement.joint_angles.x) > radians(40) || _measurement.joint_angles.y > radians(45) || _measurement.joint_angles.y < -radians(135);
}
@ -518,7 +518,7 @@ void SoloGimbal::_acal_save_calibrations()
_gimbalParams.flash();
}
void SoloGimbal::gimbal_ang_vel_to_joint_rates(const Vector3f& ang_vel, Vector3f& joint_rates)
void SoloGimbal::gimbal_ang_vel_to_joint_rates(const Vector3f& ang_vel, Vector3f& joint_rates) const
{
float sin_theta = sinf(_measurement.joint_angles.y);
float cos_theta = cosf(_measurement.joint_angles.y);
@ -533,7 +533,7 @@ void SoloGimbal::gimbal_ang_vel_to_joint_rates(const Vector3f& ang_vel, Vector3f
joint_rates.z = sec_phi*(ang_vel.z*cos_theta-ang_vel.x*sin_theta);
}
void SoloGimbal::joint_rates_to_gimbal_ang_vel(const Vector3f& joint_rates, Vector3f& ang_vel)
void SoloGimbal::joint_rates_to_gimbal_ang_vel(const Vector3f& joint_rates, Vector3f& ang_vel) const
{
float sin_theta = sinf(_measurement.joint_angles.y);
float cos_theta = cosf(_measurement.joint_angles.y);

10
libraries/AP_Mount/SoloGimbal.h
View File

@ -66,7 +66,7 @@ public:
void write_logs();
float get_log_dt() { return _log_dt; }
float get_log_dt() const { return _log_dt; }
void disable_torque_report() { _gimbalParams.set_param(GMB_PARAM_GMB_SND_TORQUE, 0); }
void fetch_params() { _gimbalParams.fetch_params(); }
@ -84,12 +84,12 @@ private:
Vector3f get_ang_vel_dem_yaw(const Quaternion &quatEst);
Vector3f get_ang_vel_dem_roll_tilt(const Quaternion &quatEst);
Vector3f get_ang_vel_dem_feedforward(const Quaternion &quatEst);
Vector3f get_ang_vel_dem_feedforward(const Quaternion &quatEst) const;
Vector3f get_ang_vel_dem_gyro_bias();
Vector3f get_ang_vel_dem_body_lock();
void gimbal_ang_vel_to_joint_rates(const Vector3f& ang_vel, Vector3f& joint_rates);
void joint_rates_to_gimbal_ang_vel(const Vector3f& joint_rates, Vector3f& ang_vel);
void gimbal_ang_vel_to_joint_rates(const Vector3f& ang_vel, Vector3f& joint_rates) const;
void joint_rates_to_gimbal_ang_vel(const Vector3f& joint_rates, Vector3f& ang_vel) const;
void readVehicleDeltaAngle(uint8_t ins_index, Vector3f &dAng);
@ -100,7 +100,7 @@ private:
gimbal_mode_t get_mode();
bool joints_near_limits();
bool joints_near_limits() const;
// private member variables
SoloGimbalEKF _ekf; // state of small EKF for gimbal