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AP_AHRS: constify getLastPosNorthEastReset

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Also constify getLastVelNortEastReset
This commit is contained in:
Randy Mackay 2015-10-29 17:34:41 +09:00
parent 52ed075405
commit 4e959ef6f9
3 changed files with 6 additions and 6 deletions
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4
libraries/AP_AHRS/AP_AHRS.h
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@ -394,13 +394,13 @@ public:
// return the amount of NE position change in metres due to the last reset
// returns the time of the last reset or 0 if no reset has ever occurred
virtual uint32_t getLastPosNorthEastReset(Vector2f &pos) {
virtual uint32_t getLastPosNorthEastReset(Vector2f &pos) const {
return 0;
};
// return the amount of NE velocity change in metres/sec due to the last reset
// returns the time of the last reset or 0 if no reset has ever occurred
virtual uint32_t getLastVelNorthEastReset(Vector2f &vel) {
virtual uint32_t getLastVelNorthEastReset(Vector2f &vel) const {
return 0;
};

4
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -742,7 +742,7 @@ uint32_t AP_AHRS_NavEKF::getLastYawResetAngle(float &yawAng) const
// return the amount of NE position change in metres due to the last reset
// returns the time of the last reset or 0 if no reset has ever occurred
uint32_t AP_AHRS_NavEKF::getLastPosNorthEastReset(Vector2f &pos)
uint32_t AP_AHRS_NavEKF::getLastPosNorthEastReset(Vector2f &pos) const
{
switch (ekf_type()) {
case 1:
@ -755,7 +755,7 @@ uint32_t AP_AHRS_NavEKF::getLastPosNorthEastReset(Vector2f &pos)
// return the amount of NE velocity change in metres/sec due to the last reset
// returns the time of the last reset or 0 if no reset has ever occurred
uint32_t AP_AHRS_NavEKF::getLastVelNorthEastReset(Vector2f &vel)
uint32_t AP_AHRS_NavEKF::getLastVelNorthEastReset(Vector2f &vel) const
{
switch (ekf_type()) {
case 1:

4
libraries/AP_AHRS/AP_AHRS_NavEKF.h
View File

@ -169,11 +169,11 @@ public:
// return the amount of NE position change in metres due to the last reset
// 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 in metres/sec due to the last reset
// 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;
// Resets the baro so that it reads zero at the current height
// Resets the EKF height to zero