From 95d68b0cf52bcc4cee5622415cfdbe69a8eb657d Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 15 Mar 2019 13:26:01 +0900
Subject: [PATCH] Rover: reached_destination becomes const

---
 APMrover2/mode.h          | 10 +++++-----
 APMrover2/mode_auto.cpp   |  2 +-
 APMrover2/mode_guided.cpp |  2 +-
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/APMrover2/mode.h b/APMrover2/mode.h
index 2dffe06bc3..906b5c2ea6 100644
--- a/APMrover2/mode.h
+++ b/APMrover2/mode.h
@@ -107,7 +107,7 @@ public:
     bool set_desired_location_NED(const Vector3f& destination, float next_leg_bearing_cd = MODE_NEXT_HEADING_UNKNOWN);
 
     // true if vehicle has reached desired location. defaults to true because this is normally used by missions and we do not want the mission to become stuck
-    virtual bool reached_destination() { return true; }
+    virtual bool reached_destination() const { return true; }
 
     // set desired heading and speed - supported in Auto and Guided modes
     virtual void set_desired_heading_and_speed(float yaw_angle_cd, float target_speed);
@@ -265,7 +265,7 @@ public:
 
     // set desired location, heading and speed
     void set_desired_location(const struct Location& destination, float next_leg_bearing_cd = MODE_NEXT_HEADING_UNKNOWN) override;
-    bool reached_destination() override;
+    bool reached_destination() const override;
 
     // heading and speed control
     void set_desired_heading_and_speed(float yaw_angle_cd, float target_speed) override;
@@ -378,7 +378,7 @@ public:
     float get_distance_to_destination() const override;
 
     // return true if vehicle has reached destination
-    bool reached_destination() override;
+    bool reached_destination() const override;
 
     // set desired location, heading and speed
     void set_desired_location(const struct Location& destination, float next_leg_bearing_cd = MODE_NEXT_HEADING_UNKNOWN) override;
@@ -507,7 +507,7 @@ public:
     bool is_autopilot_mode() const override { return true; }
 
     float get_distance_to_destination() const override { return _distance_to_destination; }
-    bool reached_destination() override { return _reached_destination; }
+    bool reached_destination() const override { return _reached_destination; }
 
 protected:
 
@@ -528,7 +528,7 @@ public:
     bool is_autopilot_mode() const override { return true; }
 
     float get_distance_to_destination() const override { return _distance_to_destination; }
-    bool reached_destination() override { return smart_rtl_state == SmartRTL_StopAtHome; }
+    bool reached_destination() const override { return smart_rtl_state == SmartRTL_StopAtHome; }
 
     // save current position for use by the smart_rtl flight mode
     void save_position();
diff --git a/APMrover2/mode_auto.cpp b/APMrover2/mode_auto.cpp
index 902522a11e..01af642c98 100644
--- a/APMrover2/mode_auto.cpp
+++ b/APMrover2/mode_auto.cpp
@@ -124,7 +124,7 @@ void ModeAuto::set_desired_location(const struct Location& destination, float ne
 }
 
 // return true if vehicle has reached or even passed destination
-bool ModeAuto::reached_destination()
+bool ModeAuto::reached_destination() const
 {
     switch (_submode) {
     case Auto_WP:
diff --git a/APMrover2/mode_guided.cpp b/APMrover2/mode_guided.cpp
index 40c8dda32b..429b7d720c 100644
--- a/APMrover2/mode_guided.cpp
+++ b/APMrover2/mode_guided.cpp
@@ -117,7 +117,7 @@ float ModeGuided::get_distance_to_destination() const
 }
 
 // return true if vehicle has reached or even passed destination
-bool ModeGuided::reached_destination()
+bool ModeGuided::reached_destination() const
 {
     switch (_guided_mode) {
     case Guided_WP: