AP_NavEKF2: constify getLastYawResetAngle

libraries/AP_NavEKF2/AP_NavEKF2.cpp

@@ -809,10 +809,10 @@ bool NavEKF2::getHeightControlLimit(float &height) const
 
 // return the amount of yaw angle change due to the last yaw angle reset in radians
 // returns the time of the last yaw angle reset or 0 if no reset has ever occurred
-uint32_t NavEKF2::getLastYawResetAngle(float &yawAng)
+uint32_t NavEKF2::getLastYawResetAngle(float &yawAng) const
 {
     if (!core) {
-        return false;
+        return 0;
     }
     return core->getLastYawResetAngle(yawAng);
 }

libraries/AP_NavEKF2/AP_NavEKF2.h

@@ -225,7 +225,7 @@ public:
 
     // return the amount of yaw angle change due to the last yaw angle reset in radians
     // returns the time of the last yaw angle reset or 0 if no reset has ever occurred
-    uint32_t getLastYawResetAngle(float &yawAng);
+    uint32_t getLastYawResetAngle(float &yawAng) const;
 
     // 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

libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp

@@ -122,7 +122,7 @@ void NavEKF2_core::getQuaternion(Quaternion& ret) const
 
 // return the amount of yaw angle change due to the last yaw angle reset in radians
 // returns the time of the last yaw angle reset or 0 if no reset has ever occurred
-uint32_t NavEKF2_core::getLastYawResetAngle(float &yawAng)
+uint32_t NavEKF2_core::getLastYawResetAngle(float &yawAng) const
 {
     yawAng = yawResetAngle;
     return lastYawReset_ms;

libraries/AP_NavEKF2/AP_NavEKF2_core.h

@@ -246,7 +246,7 @@ public:
 
     // return the amount of yaw angle change due to the last yaw angle reset in radians
     // returns the time of the last yaw angle reset or 0 if no reset has ever occurred
-    uint32_t getLastYawResetAngle(float &yawAng);
+    uint32_t getLastYawResetAngle(float &yawAng) const;
 
     // 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