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AC_AttitudeControl: constify some local variables

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Leonard Hall 2021-01-22 13:43:53 +09:00 committed by Randy Mackay
parent 9e7a0e6267
commit 25fff17e48
1 changed files with 3 additions and 3 deletions
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6
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -259,7 +259,7 @@ void AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw(float euler
if (_rate_bf_ff_enabled) { if (_rate_bf_ff_enabled) {
// translate the roll pitch and yaw acceleration limits to the euler axis // translate the roll pitch and yaw acceleration limits to the euler axis
Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f(get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss())); const Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f(get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss()));
// When acceleration limiting and feedforward are enabled, the sqrt controller is used to compute an euler // When acceleration limiting and feedforward are enabled, the sqrt controller is used to compute an euler
// angular velocity that will cause the euler angle to smoothly stop at the input angle with limited deceleration // angular velocity that will cause the euler angle to smoothly stop at the input angle with limited deceleration
@ -310,7 +310,7 @@ void AC_AttitudeControl::input_euler_angle_roll_pitch_yaw(float euler_roll_angle
if (_rate_bf_ff_enabled) { if (_rate_bf_ff_enabled) {
// translate the roll pitch and yaw acceleration limits to the euler axis // translate the roll pitch and yaw acceleration limits to the euler axis
Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f(get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss())); const Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f(get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss()));
// When acceleration limiting and feedforward are enabled, the sqrt controller is used to compute an euler // When acceleration limiting and feedforward are enabled, the sqrt controller is used to compute an euler
// angular velocity that will cause the euler angle to smoothly stop at the input angle with limited deceleration // angular velocity that will cause the euler angle to smoothly stop at the input angle with limited deceleration
@ -365,7 +365,7 @@ void AC_AttitudeControl::input_euler_rate_roll_pitch_yaw(float euler_roll_rate_c
if (_rate_bf_ff_enabled) { if (_rate_bf_ff_enabled) {
// translate the roll pitch and yaw acceleration limits to the euler axis // translate the roll pitch and yaw acceleration limits to the euler axis
Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f(get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss())); const Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f(get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss()));
// When acceleration limiting is enabled, the input shaper constrains angular acceleration, slewing // When acceleration limiting is enabled, the input shaper constrains angular acceleration, slewing
// the output rate towards the input rate. // the output rate towards the input rate.