From e2824be250e20fb81fd81ab6c8a69bc3250022aa Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 1 Jan 2018 12:46:46 +0900 Subject: [PATCH] Rover: add const and comments to calc_speed_max --- APMrover2/mode.cpp | 3 ++- APMrover2/mode.h | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/APMrover2/mode.cpp b/APMrover2/mode.cpp index 0d7a275d2c..e7e1ac1e18 100644 --- a/APMrover2/mode.cpp +++ b/APMrover2/mode.cpp @@ -225,7 +225,8 @@ bool Mode::stop_vehicle() } // estimate maximum vehicle speed (in m/s) -float Mode::calc_speed_max(float cruise_speed, float cruise_throttle) +// cruise_speed is in m/s, cruise_throttle should be in the range -1 to +1 +float Mode::calc_speed_max(float cruise_speed, float cruise_throttle) const { float speed_max; diff --git a/APMrover2/mode.h b/APMrover2/mode.h index a016f19c15..e42f7bed7f 100644 --- a/APMrover2/mode.h +++ b/APMrover2/mode.h @@ -121,7 +121,8 @@ protected: bool stop_vehicle(); // estimate maximum vehicle speed (in m/s) - float calc_speed_max(float cruise_speed, float cruise_throttle); + // cruise_speed is in m/s, cruise_throttle should be in the range -1 to +1 + float calc_speed_max(float cruise_speed, float cruise_throttle) const; // calculate pilot input to nudge speed up or down // target_speed should be in meters/sec