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AP_NavEKF: constify getLastPosNorthEastReset

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This commit is contained in:
Randy Mackay 2015-10-29 17:35:35 +09:00
parent 4e959ef6f9
commit 3f29365cae
2 changed files with 4 additions and 4 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -5592,7 +5592,7 @@ uint32_t NavEKF::getLastYawResetAngle(float &yawAng) const
// return the amount of NE position change due to the last position reset in metres // return the amount of NE position change due to the last position reset in metres
// returns the time of the last reset or 0 if no reset has ever occurred // returns the time of the last reset or 0 if no reset has ever occurred
uint32_t NavEKF::getLastPosNorthEastReset(Vector2f &pos) uint32_t NavEKF::getLastPosNorthEastReset(Vector2f &pos) const
{ {
pos = posResetNE; pos = posResetNE;
return lastPosReset_ms; return lastPosReset_ms;
@ -5600,7 +5600,7 @@ uint32_t NavEKF::getLastPosNorthEastReset(Vector2f &pos)
// return the amount of NE velocity change due to the last velocity reset in metres/sec // return the amount of NE velocity change due to the last velocity reset in metres/sec
// returns the time of the last reset or 0 if no reset has ever occurred // returns the time of the last reset or 0 if no reset has ever occurred
uint32_t NavEKF::getLastVelNorthEastReset(Vector2f &vel) uint32_t NavEKF::getLastVelNorthEastReset(Vector2f &vel) const
{ {
vel = velResetNE; vel = velResetNE;
return lastVelReset_ms; return lastVelReset_ms;

4
libraries/AP_NavEKF/AP_NavEKF.h
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@ -282,11 +282,11 @@ public:
// return the amount of NE position change due to the last position reset in metres // return the amount of NE position change due to the last position reset in metres
// returns the time of the last reset or 0 if no reset has ever occurred // returns the time of the last reset or 0 if no reset has ever occurred
uint32_t getLastPosNorthEastReset(Vector2f &pos); uint32_t getLastPosNorthEastReset(Vector2f &pos) const;
// return the amount of NE velocity change due to the last velocity reset in metres/sec // return the amount of NE velocity change due to the last velocity reset in metres/sec
// returns the time of the last reset or 0 if no reset has ever occurred // returns the time of the last reset or 0 if no reset has ever occurred
uint32_t getLastVelNorthEastReset(Vector2f &vel); uint32_t getLastVelNorthEastReset(Vector2f &vel) const;
// report any reason for why the backend is refusing to initialise // report any reason for why the backend is refusing to initialise
const char *prearm_failure_reason(void) const; const char *prearm_failure_reason(void) const;