From 608017ba4a50f91dd7af1e2dd9abb0568ccefadf Mon Sep 17 00:00:00 2001
From: Arthur Benemann <arthur.benemann@gmail.com>
Date: Fri, 3 Apr 2015 13:22:36 -0700
Subject: [PATCH] AP_Gimbal: optimize function calls using const refrences

---
 libraries/AP_Gimbal/AP_Gimbal.cpp | 6 +++---
 libraries/AP_Gimbal/AP_Gimbal.h   | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_Gimbal/AP_Gimbal.cpp b/libraries/AP_Gimbal/AP_Gimbal.cpp
index ba694f1087..3a4ed82079 100644
--- a/libraries/AP_Gimbal/AP_Gimbal.cpp
+++ b/libraries/AP_Gimbal/AP_Gimbal.cpp
@@ -64,7 +64,7 @@ void AP_Gimbal::update_state()
     gimbalRateDemVec += getGimbalRateDemVecGyroBias();
 }
 
-Vector3f AP_Gimbal::getGimbalRateDemVecYaw(Quaternion quatEst)
+Vector3f AP_Gimbal::getGimbalRateDemVecYaw(const Quaternion &quatEst)
 {
         // Define rotation from vehicle to gimbal using a 312 rotation sequence
         Matrix3f Tvg;
@@ -109,7 +109,7 @@ Vector3f AP_Gimbal::getGimbalRateDemVecYaw(Quaternion quatEst)
         return gimbalRateDemVecYaw;
 }
 
-Vector3f AP_Gimbal::getGimbalRateDemVecTilt(Quaternion quatEst)
+Vector3f AP_Gimbal::getGimbalRateDemVecTilt(const Quaternion &quatEst)
 {
         // Calculate the gimbal 321 Euler angle estimates relative to earth frame
         Vector3f eulerEst;
@@ -142,7 +142,7 @@ Vector3f AP_Gimbal::getGimbalRateDemVecTilt(Quaternion quatEst)
         return gimbalRateDemVecTilt;
 }
 
-Vector3f AP_Gimbal::getGimbalRateDemVecForward(Quaternion quatEst)
+Vector3f AP_Gimbal::getGimbalRateDemVecForward(const Quaternion &quatEst)
 {
         // quaternion demanded at the previous time step
         static float lastDem;
diff --git a/libraries/AP_Gimbal/AP_Gimbal.h b/libraries/AP_Gimbal/AP_Gimbal.h
index ec9757cf41..ac85cef32d 100644
--- a/libraries/AP_Gimbal/AP_Gimbal.h
+++ b/libraries/AP_Gimbal/AP_Gimbal.h
@@ -83,9 +83,9 @@ private:
     uint8_t isCopterFliped();
 
     // Control loop functions
-    Vector3f getGimbalRateDemVecYaw(Quaternion quatEst);
-    Vector3f getGimbalRateDemVecTilt(Quaternion quatEst);
-    Vector3f getGimbalRateDemVecForward(Quaternion quatEst);
+    Vector3f getGimbalRateDemVecYaw(const Quaternion &quatEst);
+    Vector3f getGimbalRateDemVecTilt(const Quaternion &quatEst);
+    Vector3f getGimbalRateDemVecForward(const Quaternion &quatEst);
     Vector3f getGimbalRateDemVecGyroBias();
 
 };