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ArduPlane: Add missing const in member functions 

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2021-02-01 13:26:22 -03:00 committed by Andrew Tridgell
parent ad82e01270
commit cdc7f891a9
11 changed files with 21 additions and 21 deletions
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2
ArduPlane/AP_Arming.h
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@ -28,7 +28,7 @@ public:
bool arm(AP_Arming::Method method, bool do_arming_checks=true) override;
void update_soft_armed();
bool get_delay_arming() { return delay_arming; };
bool get_delay_arming() const { return delay_arming; };
protected:
bool ins_checks(bool report) override;

12
ArduPlane/Plane.h
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@ -786,7 +786,7 @@ private:
void update_load_factor(void);
void adjust_altitude_target();
void setup_glide_slope(void);
int32_t get_RTL_altitude();
int32_t get_RTL_altitude() const;
float relative_ground_altitude(bool use_rangefinder_if_available);
void set_target_altitude_current(void);
void set_target_altitude_current_adjusted(void);
@ -800,7 +800,7 @@ private:
void reset_offset_altitude(void);
void set_offset_altitude_location(const Location &loc);
bool above_location_current(const Location &loc);
void setup_terrain_target_alt(Location &loc);
void setup_terrain_target_alt(Location &loc) const;
int32_t adjusted_altitude_cm(void);
int32_t adjusted_relative_altitude_cm(void);
float mission_alt_offset(void);
@ -903,7 +903,7 @@ private:
// control_modes.cpp
void read_control_switch();
uint8_t readSwitch(void);
uint8_t readSwitch(void) const;
void reset_control_switch();
void autotune_start(void);
void autotune_restore(void);
@ -924,7 +924,7 @@ private:
Vector2l get_fence_point_with_index(uint8_t i) const;
void set_fence_point_with_index(const Vector2l &point, unsigned i);
void geofence_load(void);
bool geofence_present(void);
bool geofence_present(void) const;
void geofence_update_pwm_enabled_state();
bool geofence_set_enabled(bool enable);
bool geofence_enabled(void);
@ -1039,13 +1039,13 @@ private:
void servos_auto_trim(void);
void servos_twin_engine_mix();
void force_flare();
void throttle_voltage_comp(int8_t &min_throttle, int8_t &max_throttle);
void throttle_voltage_comp(int8_t &min_throttle, int8_t &max_throttle) const;
void throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle);
void throttle_slew_limit(SRV_Channel::Aux_servo_function_t func);
bool suppress_throttle(void);
void update_throttle_hover();
void channel_function_mixer(SRV_Channel::Aux_servo_function_t func1_in, SRV_Channel::Aux_servo_function_t func2_in,
SRV_Channel::Aux_servo_function_t func1_out, SRV_Channel::Aux_servo_function_t func2_out);
SRV_Channel::Aux_servo_function_t func1_out, SRV_Channel::Aux_servo_function_t func2_out) const;
void flaperon_update(int8_t flap_percent);
// is_flying.cpp

4
ArduPlane/altitude.cpp
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@ -137,7 +137,7 @@ void Plane::setup_glide_slope(void)
/*
return RTL altitude as AMSL altitude
*/
int32_t Plane::get_RTL_altitude()
int32_t Plane::get_RTL_altitude() const
{
if (g.RTL_altitude_cm < 0) {
return current_loc.alt;
@ -459,7 +459,7 @@ bool Plane::above_location_current(const Location &loc)
modify a destination to be setup for terrain following if
TERRAIN_FOLLOW is enabled
*/
void Plane::setup_terrain_target_alt(Location &loc)
void Plane::setup_terrain_target_alt(Location &loc) const
{
#if AP_TERRAIN_AVAILABLE
if (g.terrain_follow) {

2
ArduPlane/control_modes.cpp
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@ -146,7 +146,7 @@ void Plane::read_control_switch()
#endif
}
uint8_t Plane::readSwitch(void)
uint8_t Plane::readSwitch(void) const
{
uint16_t pulsewidth = RC_Channels::get_radio_in(g.flight_mode_channel - 1);
if (pulsewidth <= 900 || pulsewidth >= 2200) return 255; // This is an error condition

2
ArduPlane/geofence.cpp
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@ -145,7 +145,7 @@ void Plane::geofence_disable_and_send_error_msg(const char *errorMsg)
* return true if a geo-fence has been uploaded and
* FENCE_ACTION is 1 (not necessarily enabled)
*/
bool Plane::geofence_present(void)
bool Plane::geofence_present(void) const
{
//require at least a return point and a triangle
//to define a geofence area:

2
ArduPlane/mode.h
View File

@ -382,7 +382,7 @@ public:
void navigate() override;
bool get_target_heading_cd(int32_t &target_heading);
bool get_target_heading_cd(int32_t &target_heading) const;
bool does_auto_throttle() const override { return true; }

2
ArduPlane/mode_cruise.cpp
View File

@ -69,7 +69,7 @@ void ModeCruise::navigate()
}
}
bool ModeCruise::get_target_heading_cd(int32_t &target_heading)
bool ModeCruise::get_target_heading_cd(int32_t &target_heading) const
{
target_heading = locked_heading_cd;
return locked_heading;

2
ArduPlane/quadplane.cpp
View File

@ -2328,7 +2328,7 @@ bool QuadPlane::init_mode(void)
/*
handle a MAVLink DO_VTOL_TRANSITION
*/
bool QuadPlane::handle_do_vtol_transition(enum MAV_VTOL_STATE state)
bool QuadPlane::handle_do_vtol_transition(enum MAV_VTOL_STATE state) const
{
if (!available()) {
gcs().send_text(MAV_SEVERITY_NOTICE, "VTOL not available");

6
ArduPlane/quadplane.h
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@ -89,7 +89,7 @@ public:
*/
bool in_tailsitter_vtol_transition(uint32_t now = 0) const;
bool handle_do_vtol_transition(enum MAV_VTOL_STATE state);
bool handle_do_vtol_transition(enum MAV_VTOL_STATE state) const;
bool do_vtol_takeoff(const AP_Mission::Mission_Command& cmd);
bool do_vtol_land(const AP_Mission::Mission_Command& cmd);
@ -568,8 +568,8 @@ private:
bool is_motor_tilting(uint8_t motor) const {
return (((uint8_t)tilt.tilt_mask.get()) & (1U<<motor));
}
bool tiltrotor_fully_fwd(void);
float tilt_max_change(bool up);
bool tiltrotor_fully_fwd(void) const;
float tilt_max_change(bool up) const;
void afs_terminate(void);
bool guided_mode_enabled(void);

4
ArduPlane/servos.cpp
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@ -142,7 +142,7 @@ bool Plane::suppress_throttle(void)
SERVOn_* parameters
*/
void Plane::channel_function_mixer(SRV_Channel::Aux_servo_function_t func1_in, SRV_Channel::Aux_servo_function_t func2_in,
SRV_Channel::Aux_servo_function_t func1_out, SRV_Channel::Aux_servo_function_t func2_out)
SRV_Channel::Aux_servo_function_t func1_out, SRV_Channel::Aux_servo_function_t func2_out) const
{
// the order is setup so that non-reversed servos go "up", and
// func1 is the "left" channel. Users can adjust with channel
@ -378,7 +378,7 @@ void Plane::set_servos_manual_passthrough(void)
/*
Scale the throttle to conpensate for battery voltage drop
*/
void Plane::throttle_voltage_comp(int8_t &min_throttle, int8_t &max_throttle)
void Plane::throttle_voltage_comp(int8_t &min_throttle, int8_t &max_throttle) const
{
// return if not enabled, or setup incorrectly
if (g2.fwd_thr_batt_voltage_min >= g2.fwd_thr_batt_voltage_max || !is_positive(g2.fwd_thr_batt_voltage_max)) {

4
ArduPlane/tiltrotor.cpp
View File

@ -9,7 +9,7 @@
/*
calculate maximum tilt change as a proportion from 0 to 1 of tilt
*/
float QuadPlane::tilt_max_change(bool up)
float QuadPlane::tilt_max_change(bool up) const
{
float rate;
if (up || tilt.max_rate_down_dps <= 0) {
@ -310,7 +310,7 @@ void QuadPlane::tilt_compensate(float *thrust, uint8_t num_motors)
/*
return true if the rotors are fully tilted forward
*/
bool QuadPlane::tiltrotor_fully_fwd(void)
bool QuadPlane::tiltrotor_fully_fwd(void) const
{
if (tilt.tilt_mask <= 0) {
return false;