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AP_NavEKF2: constify getLastPosNorthEastReset

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Also constify getLastVelNorthEastReset
This commit is contained in:
Randy Mackay 2015-10-29 17:36:44 +09:00
parent 3f29365cae
commit 94adaba305
4 changed files with 10 additions and 10 deletions
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8
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -819,20 +819,20 @@ uint32_t NavEKF2::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 NavEKF2::getLastPosNorthEastReset(Vector2f &pos) uint32_t NavEKF2::getLastPosNorthEastReset(Vector2f &pos) const
{ {
if (!core) { if (!core) {
return false; return 0;
} }
return core->getLastPosNorthEastReset(pos); return core->getLastPosNorthEastReset(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 NavEKF2::getLastVelNorthEastReset(Vector2f &vel) uint32_t NavEKF2::getLastVelNorthEastReset(Vector2f &vel) const
{ {
if (!core) { if (!core) {
return false; return 0;
} }
return core->getLastVelNorthEastReset(vel); return core->getLastVelNorthEastReset(vel);
} }

4
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -229,11 +229,11 @@ 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;
// allow the enable flag to be set by Replay // allow the enable flag to be set by Replay
void set_enable(bool enable) { _enable.set(enable); } void set_enable(bool enable) { _enable.set(enable); }

4
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -130,7 +130,7 @@ uint32_t NavEKF2_core::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 NavEKF2_core::getLastPosNorthEastReset(Vector2f &pos) uint32_t NavEKF2_core::getLastPosNorthEastReset(Vector2f &pos) const
{ {
pos = posResetNE; pos = posResetNE;
return lastPosReset_ms; return lastPosReset_ms;
@ -138,7 +138,7 @@ uint32_t NavEKF2_core::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 NavEKF2_core::getLastVelNorthEastReset(Vector2f &vel) uint32_t NavEKF2_core::getLastVelNorthEastReset(Vector2f &vel) const
{ {
vel = velResetNE; vel = velResetNE;
return lastVelReset_ms; return lastVelReset_ms;

4
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -250,11 +250,11 @@ 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;
private: private:
// Reference to the global EKF frontend for parameters // Reference to the global EKF frontend for parameters