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AP_AHRS: pass vector by const reference

This commit is contained in:
Pierre Kancir 2018-12-20 10:11:16 +01:00 committed by Randy Mackay
parent 96e629d83e
commit d87853d93e
2 changed files with 4 additions and 4 deletions
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6
libraries/AP_AHRS/AP_AHRS.cpp
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@ -187,7 +187,7 @@ bool AP_AHRS::airspeed_estimate(float *airspeed_ret) const
} }
// set_trim // set_trim
void AP_AHRS::set_trim(Vector3f new_trim) void AP_AHRS::set_trim(const Vector3f &new_trim)
{ {
Vector3f trim; Vector3f trim;
trim.x = constrain_float(new_trim.x, ToRad(-AP_AHRS_TRIM_LIMIT), ToRad(AP_AHRS_TRIM_LIMIT)); trim.x = constrain_float(new_trim.x, ToRad(-AP_AHRS_TRIM_LIMIT), ToRad(AP_AHRS_TRIM_LIMIT));
@ -216,7 +216,7 @@ void AP_AHRS::add_trim(float roll_in_radians, float pitch_in_radians, bool save_
// Set the board mounting orientation, may be called while disarmed // Set the board mounting orientation, may be called while disarmed
void AP_AHRS::set_orientation() void AP_AHRS::set_orientation()
{ {
enum Rotation orientation = (enum Rotation)_board_orientation.get(); const enum Rotation orientation = (enum Rotation)_board_orientation.get();
if (orientation != ROTATION_CUSTOM) { if (orientation != ROTATION_CUSTOM) {
AP::ins().set_board_orientation(orientation); AP::ins().set_board_orientation(orientation);
if (_compass != nullptr) { if (_compass != nullptr) {
@ -289,7 +289,7 @@ Vector2f AP_AHRS::groundspeed_vector(void)
Vector2f ret(cosf(yaw), sinf(yaw)); Vector2f ret(cosf(yaw), sinf(yaw));
ret *= airspeed; ret *= airspeed;
// adjust for estimated wind // adjust for estimated wind
Vector3f wind = wind_estimate(); const Vector3f wind = wind_estimate();
ret.x += wind.x; ret.x += wind.x;
ret.y += wind.y; ret.y += wind.y;
return ret; return ret;

2
libraries/AP_AHRS/AP_AHRS.h
View File

@ -391,7 +391,7 @@ public:
} }
// set trim // set trim
virtual void set_trim(Vector3f new_trim); virtual void set_trim(const Vector3f &new_trim);
// add_trim - adjust the roll and pitch trim up to a total of 10 degrees // add_trim - adjust the roll and pitch trim up to a total of 10 degrees
virtual void add_trim(float roll_in_radians, float pitch_in_radians, bool save_to_eeprom = true); virtual void add_trim(float roll_in_radians, float pitch_in_radians, bool save_to_eeprom = true);