PositionControl: make getters const functions

src/modules/mc_pos_control/PositionControl/PositionControl.cpp

@@ -351,7 +351,7 @@ void PositionControl::updateConstraints(const vehicle_constraints_s &constraints
 	}
 }
 
-void PositionControl::getLocalPositionSetpoint(vehicle_local_position_setpoint_s &local_position_setpoint)
+void PositionControl::getLocalPositionSetpoint(vehicle_local_position_setpoint_s &local_position_setpoint) const
 {
 	local_position_setpoint.x = _pos_sp(0);
 	local_position_setpoint.y = _pos_sp(1);
@@ -365,7 +365,7 @@ void PositionControl::getLocalPositionSetpoint(vehicle_local_position_setpoint_s
 	_thr_sp.copyTo(local_position_setpoint.thrust);
 }
 
-void PositionControl::getAttitudeSetpoint(vehicle_attitude_setpoint_s &attitude_setpoint)
+void PositionControl::getAttitudeSetpoint(vehicle_attitude_setpoint_s &attitude_setpoint) const
 {
 	attitude_setpoint = ControlMath::thrustToAttitude(_thr_sp, _yaw_sp);
 	attitude_setpoint.yaw_sp_move_rate = _yawspeed_sp;

src/modules/mc_pos_control/PositionControl/PositionControl.hpp

@@ -134,7 +134,7 @@ public:
 	 * 	@see _vel_sp
 	 * 	@return The velocity set-point that was executed in the control-loop. Nan if velocity control-loop was skipped.
 	 */
-	const matrix::Vector3f getVelSp()
+	const matrix::Vector3f getVelSp() const
 	{
 		matrix::Vector3f vel_sp{};
 
@@ -156,7 +156,7 @@ public:
 	 * The acceleration or thrust setpoints can be used for attitude control.
 	 * @param local_position_setpoint reference to struct to fill up
 	 */
-	void getLocalPositionSetpoint(vehicle_local_position_setpoint_s &local_position_setpoint);
+	void getLocalPositionSetpoint(vehicle_local_position_setpoint_s &local_position_setpoint) const;
 
 	/**
 	 * Get the controllers output attitude setpoint
@@ -164,7 +164,7 @@ public:
 	 * It needs to be executed by the attitude controller to achieve velocity and position tracking.
 	 * @param attitude_setpoint reference to struct to fill up
 	 */
-	void getAttitudeSetpoint(vehicle_attitude_setpoint_s &attitude_setpoint);
+	void getAttitudeSetpoint(vehicle_attitude_setpoint_s &attitude_setpoint) const;
 
 protected: