zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

RC_Channel: add const keyword to many methods

master
Peter Barker 6 years ago committed by Peter Barker
parent
b74ae2d912
commit
c7d052eec8
2 changed files with 20 additions and 20 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. 20
      libraries/RC_Channel/RC_Channel.cpp
  2. 20
      libraries/RC_Channel/RC_Channel.h

20
libraries/RC_Channel/RC_Channel.cpp
Unescape View File

@ -182,7 +182,7 @@ int16_t RC_Channel::get_control_mid() const
the current radio_in value using the specified dead_zone the current radio_in value using the specified dead_zone
*/ */
int16_t int16_t
RC_Channel::pwm_to_angle_dz_trim(uint16_t _dead_zone, uint16_t _trim) RC_Channel::pwm_to_angle_dz_trim(uint16_t _dead_zone, uint16_t _trim) const
{ {
int16_t radio_trim_high = _trim + _dead_zone; int16_t radio_trim_high = _trim + _dead_zone;
int16_t radio_trim_low = _trim - _dead_zone; int16_t radio_trim_low = _trim - _dead_zone;
@ -202,7 +202,7 @@ RC_Channel::pwm_to_angle_dz_trim(uint16_t _dead_zone, uint16_t _trim)
the current radio_in value using the specified dead_zone the current radio_in value using the specified dead_zone
*/ */
int16_t int16_t
RC_Channel::pwm_to_angle_dz(uint16_t _dead_zone) RC_Channel::pwm_to_angle_dz(uint16_t _dead_zone) const
{ {
return pwm_to_angle_dz_trim(_dead_zone, radio_trim); return pwm_to_angle_dz_trim(_dead_zone, radio_trim);
} }
@ -212,7 +212,7 @@ RC_Channel::pwm_to_angle_dz(uint16_t _dead_zone)
the current radio_in value the current radio_in value
*/ */
int16_t int16_t
RC_Channel::pwm_to_angle() RC_Channel::pwm_to_angle() const
{ {
return pwm_to_angle_dz(dead_zone); return pwm_to_angle_dz(dead_zone);
} }
@ -223,7 +223,7 @@ RC_Channel::pwm_to_angle()
range, using the specified deadzone range, using the specified deadzone
*/ */
int16_t int16_t
RC_Channel::pwm_to_range_dz(uint16_t _dead_zone) RC_Channel::pwm_to_range_dz(uint16_t _dead_zone) const
{ {
int16_t r_in = constrain_int16(radio_in, radio_min.get(), radio_max.get()); int16_t r_in = constrain_int16(radio_in, radio_min.get(), radio_max.get());
@ -244,13 +244,13 @@ RC_Channel::pwm_to_range_dz(uint16_t _dead_zone)
range range
*/ */
int16_t int16_t
RC_Channel::pwm_to_range() RC_Channel::pwm_to_range() const
{ {
return pwm_to_range_dz(dead_zone); return pwm_to_range_dz(dead_zone);
} }
int16_t RC_Channel::get_control_in_zero_dz(void) int16_t RC_Channel::get_control_in_zero_dz(void) const
{ {
if (type_in == RC_CHANNEL_TYPE_RANGE) { if (type_in == RC_CHANNEL_TYPE_RANGE) {
return pwm_to_range_dz(0); return pwm_to_range_dz(0);
@ -261,7 +261,7 @@ int16_t RC_Channel::get_control_in_zero_dz(void)
// ------------------------------------------ // ------------------------------------------
float float
RC_Channel::norm_input() RC_Channel::norm_input() const
{ {
float ret; float ret;
int16_t reverse_mul = (reversed?-1:1); int16_t reverse_mul = (reversed?-1:1);
@ -280,7 +280,7 @@ RC_Channel::norm_input()
} }
float float
RC_Channel::norm_input_dz() RC_Channel::norm_input_dz() const
{ {
int16_t dz_min = radio_trim - dead_zone; int16_t dz_min = radio_trim - dead_zone;
int16_t dz_max = radio_trim + dead_zone; int16_t dz_max = radio_trim + dead_zone;
@ -300,7 +300,7 @@ RC_Channel::norm_input_dz()
get percentage input from 0 to 100. This ignores the trim value. get percentage input from 0 to 100. This ignores the trim value.
*/ */
uint8_t uint8_t
RC_Channel::percent_input() RC_Channel::percent_input() const
{ {
if (radio_in <= radio_min) { if (radio_in <= radio_min) {
return reversed?100:0; return reversed?100:0;
@ -318,7 +318,7 @@ RC_Channel::percent_input()
/* /*
Return true if the channel is at trim and within the DZ Return true if the channel is at trim and within the DZ
*/ */
bool RC_Channel::in_trim_dz() bool RC_Channel::in_trim_dz() const
{ {
return is_bounded_int32(radio_in, radio_trim - dead_zone, radio_trim + dead_zone); return is_bounded_int32(radio_in, radio_trim - dead_zone, radio_trim + dead_zone);
} }

20
libraries/RC_Channel/RC_Channel.h
Unescape View File

@ -50,28 +50,28 @@ public:
// calculate an angle given dead_zone and trim. This is used by the quadplane code // calculate an angle given dead_zone and trim. This is used by the quadplane code
// for hover throttle // for hover throttle
int16_t pwm_to_angle_dz_trim(uint16_t dead_zone, uint16_t trim); int16_t pwm_to_angle_dz_trim(uint16_t dead_zone, uint16_t trim) const;
/* /*
return a normalised input for a channel, in range -1 to 1, return a normalised input for a channel, in range -1 to 1,
centered around the channel trim. Ignore deadzone. centered around the channel trim. Ignore deadzone.
*/ */
float norm_input(); float norm_input() const;
/* /*
return a normalised input for a channel, in range -1 to 1, return a normalised input for a channel, in range -1 to 1,
centered around the channel trim. Take into account the deadzone centered around the channel trim. Take into account the deadzone
*/ */
float norm_input_dz(); float norm_input_dz() const;
uint8_t percent_input(); uint8_t percent_input() const;
int16_t pwm_to_range(); int16_t pwm_to_range() const;
int16_t pwm_to_range_dz(uint16_t dead_zone); int16_t pwm_to_range_dz(uint16_t dead_zone) const;
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
// return true if input is within deadzone of trim // return true if input is within deadzone of trim
bool in_trim_dz(); bool in_trim_dz() const;
int16_t get_radio_in() const { return radio_in;} int16_t get_radio_in() const { return radio_in;}
void set_radio_in(int16_t val) {radio_in = val;} void set_radio_in(int16_t val) {radio_in = val;}
@ -84,7 +84,7 @@ public:
bool has_override() const; bool has_override() const;
// get control input with zero deadzone // get control input with zero deadzone
int16_t get_control_in_zero_dz(void); int16_t get_control_in_zero_dz(void) const;
int16_t get_radio_min() const {return radio_min.get();} int16_t get_radio_min() const {return radio_min.get();}
void set_radio_min(int16_t val) { radio_min = val;} void set_radio_min(int16_t val) { radio_min = val;}
@ -227,8 +227,8 @@ private:
uint16_t override_value; uint16_t override_value;
uint32_t last_override_time; uint32_t last_override_time;
int16_t pwm_to_angle(); int16_t pwm_to_angle() const;
int16_t pwm_to_angle_dz(uint16_t dead_zone); int16_t pwm_to_angle_dz(uint16_t dead_zone) const;
// pwm value above which the option will be invoked: // pwm value above which the option will be invoked:
static const uint16_t AUX_PWM_TRIGGER_HIGH = 1800; static const uint16_t AUX_PWM_TRIGGER_HIGH = 1800;

Write Preview
Loading…
Cancel
Save