zrzk
/
px4_autopilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

PositionControl: make getters const functions

sbg
Matthias Grob 5 years ago
parent
f70d4d21a1
commit
d0084766ff
2 changed files with 5 additions and 5 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      src/modules/mc_pos_control/PositionControl/PositionControl.cpp
  2. 6
      src/modules/mc_pos_control/PositionControl/PositionControl.hpp

4
src/modules/mc_pos_control/PositionControl/PositionControl.cpp
Unescape View File

@ -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.x = _pos_sp(0);
local_position_setpoint.y = _pos_sp(1); 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); _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 = ControlMath::thrustToAttitude(_thr_sp, _yaw_sp);
attitude_setpoint.yaw_sp_move_rate = _yawspeed_sp; attitude_setpoint.yaw_sp_move_rate = _yawspeed_sp;

6
src/modules/mc_pos_control/PositionControl/PositionControl.hpp
Unescape View File

@ -134,7 +134,7 @@ public:
* @see _vel_sp * @see _vel_sp
* @return The velocity set-point that was executed in the control-loop. Nan if velocity control-loop was skipped. * @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{}; matrix::Vector3f vel_sp{};
@ -156,7 +156,7 @@ public:
* The acceleration or thrust setpoints can be used for attitude control. * The acceleration or thrust setpoints can be used for attitude control.
* @param local_position_setpoint reference to struct to fill up * @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 * 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. * It needs to be executed by the attitude controller to achieve velocity and position tracking.
* @param attitude_setpoint reference to struct to fill up * @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: protected:

Write Preview
Loading…
Cancel
Save