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AP_AHRS: make getter const

This commit is contained in:
khancyr 2017-12-02 14:13:32 +01:00 committed by Francisco Ferreira
parent eecd8fcfa6
commit d89d496c8f
4 changed files with 23 additions and 23 deletions
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8
libraries/AP_AHRS/AP_AHRS.h
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@ -302,7 +302,7 @@ public:
virtual bool get_position(struct Location &loc) const = 0;
// return a wind estimation vector, in m/s
virtual Vector3f wind_estimate(void) = 0;
virtual Vector3f wind_estimate(void) const = 0;
// return an airspeed estimate if available. return true
// if we have an estimate
@ -448,17 +448,17 @@ public:
static const struct AP_Param::GroupInfo var_info[];
// return secondary attitude solution if available, as eulers in radians
virtual bool get_secondary_attitude(Vector3f &eulers) {
virtual bool get_secondary_attitude(Vector3f &eulers) const {
return false;
}
// return secondary attitude solution if available, as quaternion
virtual bool get_secondary_quaternion(Quaternion &quat) {
virtual bool get_secondary_quaternion(Quaternion &quat) const {
return false;
}
// return secondary position solution if available
virtual bool get_secondary_position(struct Location &loc) {
virtual bool get_secondary_position(struct Location &loc) const {
return false;
}

2
libraries/AP_AHRS/AP_AHRS_DCM.h
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@ -99,7 +99,7 @@ public:
}
// return a wind estimation vector, in m/s
Vector3f wind_estimate() override {
Vector3f wind_estimate() const override {
return _wind;
}

18
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
View File

@ -434,7 +434,7 @@ float AP_AHRS_NavEKF::get_error_yaw(void) const
}
// return a wind estimation vector, in m/s
Vector3f AP_AHRS_NavEKF::wind_estimate(void)
Vector3f AP_AHRS_NavEKF::wind_estimate(void) const
{
Vector3f wind;
switch (active_EKF_type()) {
@ -489,7 +489,7 @@ bool AP_AHRS_NavEKF::use_compass(void)
// return secondary attitude solution if available, as eulers in radians
bool AP_AHRS_NavEKF::get_secondary_attitude(Vector3f &eulers)
bool AP_AHRS_NavEKF::get_secondary_attitude(Vector3f &eulers) const
{
switch (active_EKF_type()) {
case EKF_TYPE_NONE:
@ -510,7 +510,7 @@ bool AP_AHRS_NavEKF::get_secondary_attitude(Vector3f &eulers)
// return secondary attitude solution if available, as quaternion
bool AP_AHRS_NavEKF::get_secondary_quaternion(Quaternion &quat)
bool AP_AHRS_NavEKF::get_secondary_quaternion(Quaternion &quat) const
{
switch (active_EKF_type()) {
case EKF_TYPE_NONE:
@ -530,7 +530,7 @@ bool AP_AHRS_NavEKF::get_secondary_quaternion(Quaternion &quat)
}
// return secondary position solution if available
bool AP_AHRS_NavEKF::get_secondary_position(struct Location &loc)
bool AP_AHRS_NavEKF::get_secondary_position(struct Location &loc) const
{
switch (active_EKF_type()) {
case EKF_TYPE_NONE:
@ -690,7 +690,7 @@ bool AP_AHRS_NavEKF::get_mag_field_correction(Vector3f &vec) const
// Get a derivative of the vertical position which is kinematically consistent with the vertical position is required by some control loops.
// This is different to the vertical velocity from the EKF which is not always consistent with the verical position due to the various errors that are being corrected for.
bool AP_AHRS_NavEKF::get_vert_pos_rate(float &velocity)
bool AP_AHRS_NavEKF::get_vert_pos_rate(float &velocity) const
{
switch (active_EKF_type()) {
case EKF_TYPE_NONE:
@ -1175,7 +1175,7 @@ uint8_t AP_AHRS_NavEKF::setInhibitGPS(void)
}
// get speed limit
void AP_AHRS_NavEKF::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler)
void AP_AHRS_NavEKF::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler) const
{
switch (ekf_type()) {
case 0:
@ -1200,7 +1200,7 @@ void AP_AHRS_NavEKF::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVel
// get compass offset estimates
// true if offsets are valid
bool AP_AHRS_NavEKF::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets)
bool AP_AHRS_NavEKF::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const
{
switch (ekf_type()) {
case 0:
@ -1381,7 +1381,7 @@ bool AP_AHRS_NavEKF::resetHeightDatum(void)
}
// send a EKF_STATUS_REPORT for current EKF
void AP_AHRS_NavEKF::send_ekf_status_report(mavlink_channel_t chan)
void AP_AHRS_NavEKF::send_ekf_status_report(mavlink_channel_t chan) const
{
switch (ekf_type()) {
case EKF_TYPE_NONE:
@ -1556,7 +1556,7 @@ void AP_AHRS_NavEKF::setTouchdownExpected(bool val)
}
}
bool AP_AHRS_NavEKF::getGpsGlitchStatus()
bool AP_AHRS_NavEKF::getGpsGlitchStatus() const
{
nav_filter_status ekf_status {};
if (!get_filter_status(ekf_status)) {

18
libraries/AP_AHRS/AP_AHRS_NavEKF.h
View File

@ -79,7 +79,7 @@ public:
float get_error_yaw() const override;
// return a wind estimation vector, in m/s
Vector3f wind_estimate() override;
Vector3f wind_estimate() const override;
// return an airspeed estimate if available. return true
// if we have an estimate
@ -104,13 +104,13 @@ public:
}
// return secondary attitude solution if available, as eulers in radians
bool get_secondary_attitude(Vector3f &eulers) override;
bool get_secondary_attitude(Vector3f &eulers) const override;
// return secondary attitude solution if available, as quaternion
bool get_secondary_quaternion(Quaternion &quat) override;
bool get_secondary_quaternion(Quaternion &quat) const override;
// return secondary position solution if available
bool get_secondary_position(struct Location &loc) override;
bool get_secondary_position(struct Location &loc) const override;
// EKF has a better ground speed vector estimate
Vector2f groundspeed_vector() override;
@ -156,7 +156,7 @@ public:
// Get a derivative of the vertical position in m/s which is kinematically consistent with the vertical position is required by some control loops.
// This is different to the vertical velocity from the EKF which is not always consistent with the vertical position due to the various errors that are being corrected for.
bool get_vert_pos_rate(float &velocity);
bool get_vert_pos_rate(float &velocity) const;
// write optical flow measurements to EKF
void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, const Vector3f &posOffset);
@ -168,7 +168,7 @@ public:
uint8_t setInhibitGPS(void);
// get speed limit
void getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler);
void getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler) const;
void set_ekf_use(bool setting);
@ -183,7 +183,7 @@ public:
// get compass offset estimates
// true if offsets are valid
bool getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets);
bool getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const;
// report any reason for why the backend is refusing to initialise
const char *prearm_failure_reason(void) const override;
@ -212,7 +212,7 @@ public:
bool resetHeightDatum() override;
// send a EKF_STATUS_REPORT for current EKF
void send_ekf_status_report(mavlink_channel_t chan);
void send_ekf_status_report(mavlink_channel_t chan) const;
// get_hgt_ctrl_limit - get maximum height to be observed by the control loops in meters and a validity flag
// this is used to limit height during optical flow navigation
@ -240,7 +240,7 @@ public:
void setTakeoffExpected(bool val);
void setTouchdownExpected(bool val);
bool getGpsGlitchStatus();
bool getGpsGlitchStatus() const;
// used by Replay to force start at right timestamp
void force_ekf_start(void) { _force_ekf = true; }