From a7e7084f271dfa5c758c1a62a208b2bee42a97c1 Mon Sep 17 00:00:00 2001 From: Tobias Date: Tue, 13 Aug 2013 18:22:28 +0200 Subject: [PATCH] Copter/position_vector: remove const specifiers on objects returned by value --- ArduCopter/position_vector.pde | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/ArduCopter/position_vector.pde b/ArduCopter/position_vector.pde index 86247581e4..d1031f55c8 100644 --- a/ArduCopter/position_vector.pde +++ b/ArduCopter/position_vector.pde @@ -8,39 +8,39 @@ // .z = altitude above home in cm // pv_latlon_to_vector - convert lat/lon coordinates to a position vector -const Vector3f pv_latlon_to_vector(int32_t lat, int32_t lon, int32_t alt) +Vector3f pv_latlon_to_vector(int32_t lat, int32_t lon, int32_t alt) { Vector3f tmp((lat-home.lat) * LATLON_TO_CM, (lon-home.lng) * LATLON_TO_CM * scaleLongDown, alt); return tmp; } // pv_latlon_to_vector - convert lat/lon coordinates to a position vector -const Vector3f pv_location_to_vector(Location loc) +Vector3f pv_location_to_vector(Location loc) { Vector3f tmp((loc.lat-home.lat) * LATLON_TO_CM, (loc.lng-home.lng) * LATLON_TO_CM * scaleLongDown, loc.alt); return tmp; } // pv_get_lon - extract latitude from position vector -const int32_t pv_get_lat(const Vector3f pos_vec) +int32_t pv_get_lat(const Vector3f pos_vec) { return home.lat + (int32_t)(pos_vec.x / LATLON_TO_CM); } // pv_get_lon - extract longitude from position vector -const int32_t pv_get_lon(const Vector3f &pos_vec) +int32_t pv_get_lon(const Vector3f &pos_vec) { return home.lng + (int32_t)(pos_vec.y / LATLON_TO_CM * scaleLongUp); } // pv_get_horizontal_distance_cm - return distance between two positions in cm -const float pv_get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination) +float pv_get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination) { return pythagorous2(destination.x-origin.x,destination.y-origin.y); } // pv_get_bearing_cd - return bearing in centi-degrees between two positions -const float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination) +float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination) { float bearing = 9000 + atan2f(-(destination.x-origin.x), destination.y-origin.y) * DEGX100; if (bearing < 0) {