Some minor fixes prompted while looking at the code for other reasons.

Return non-const values from assignment.  Fix operator* for matrix3.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@536 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_Math/matrix3.h

@@ -60,7 +60,7 @@ public:
 	{	return (a!=m.a || b!=m.b || c!=m.c);	}
 
 	// set to value
-	const Matrix3<T> &operator = (const Matrix3<T> &m)
+	Matrix3<T> &operator = (const Matrix3<T> &m)
 	{
 		a= m.a; b= m.b;	c= m.c;
 		return *this;
@@ -103,15 +103,15 @@ public:
 	// multiplication by another Matrix3<T>
 	const Matrix3<T> operator *(const Matrix3<T> &m) const
 	{
-		Matrix3<T> temp = (Vector3<T>(a.x * m.a.x + a.y * m.b.x + a.z * m.c.x,
-									  a.x * m.a.y + a.y * m.b.y + a.z * m.c.y,
-									  a.x * m.a.z + a.y * m.b.z + a.z * m.c.z),
-						   Vector3<T>(b.x * m.a.x + b.y * m.b.x + b.z * m.c.x,
-									  b.x * m.a.y + b.y * m.b.y + b.z * m.c.y,
-									  b.x * m.a.z + b.y * m.b.z + b.z * m.c.z),
-						   Vector3<T>(c.x * m.a.x + c.y * m.b.x + c.z * m.c.x,
-									  c.x * m.a.y + c.y * m.b.y + c.z * m.c.y,
-									  c.x * m.a.z + c.y * m.b.z + c.z * m.c.z));
+		Matrix3<T> temp (Vector3<T>(a.x * m.a.x + a.y * m.b.x + a.z * m.c.x,
+									a.x * m.a.y + a.y * m.b.y + a.z * m.c.y,
+									a.x * m.a.z + a.y * m.b.z + a.z * m.c.z),
+						 Vector3<T>(b.x * m.a.x + b.y * m.b.x + b.z * m.c.x,
+									b.x * m.a.y + b.y * m.b.y + b.z * m.c.y,
+									b.x * m.a.z + b.y * m.b.z + b.z * m.c.z),
+						 Vector3<T>(c.x * m.a.x + c.y * m.b.x + c.z * m.c.x,
+									c.x * m.a.y + c.y * m.b.y + c.z * m.c.y,
+									c.x * m.a.z + c.y * m.b.z + c.z * m.c.z));
 		return temp;
 	}
 	const Matrix3<T> operator *=(const Matrix3<T> &m)

libraries/AP_Math/vector2.h

@@ -58,7 +58,7 @@ struct Vector2
 	{	return (x!=v.x || y!=v.y);	}
 
 	// set to value
-	const Vector2<T> &operator =(const Vector2<T> &v)
+	Vector2<T> &operator =(const Vector2<T> &v)
 	{
 		x= v.x; y= v.y;
 		return *this;

libraries/AP_Math/vector3.h

@@ -68,7 +68,7 @@ public:
 	{	return (x!=v.x || y!=v.y || z!=v.z);	}
 
 	// set to value
-	const Vector3<T> &operator =(const Vector3<T> &v)
+	Vector3<T> &operator =(const Vector3<T> &v)
 	{
 		x= v.x; y= v.y;	z= v.z;
 		return *this;