From d11c6af9239f2648ec289d965f48a34e1697d892 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 30 Aug 2018 11:51:01 -0400
Subject: [PATCH] FlightTaskAuto don't pass position setpoint by value
---
src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp | 2 +-
src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
index aed3312b6c..127586de0f 100644
--- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
@@ -300,7 +300,7 @@ void FlightTaskAuto::_updateAvoidanceWaypoints()
_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_2].point_valid = true;
}
-bool FlightTaskAuto::_isFinite(const position_setpoint_s sp)
+bool FlightTaskAuto::_isFinite(const position_setpoint_s &sp)
{
return (PX4_ISFINITE(sp.lat) && PX4_ISFINITE(sp.lon) && PX4_ISFINITE(sp.alt));
}
diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
index 90ba24b61e..a7c1158d56 100644
--- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
+++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
@@ -123,7 +123,7 @@ private:
hrt_abstime _time_stamp_reference = 0; /**< time stamp when last reference update occured. */
bool _evaluateTriplets(); /**< Checks and sets triplets. */
- bool _isFinite(const position_setpoint_s sp); /**< Checks if all waypoint triplets are finite. */
+ bool _isFinite(const position_setpoint_s &sp); /**< Checks if all waypoint triplets are finite. */
bool _evaluateGlobalReference(); /**< Check is global reference is available. */
float _getVelocityFromAngle(const float angle); /**< Computes the speed at target depending on angle. */
State _getCurrentState(); /**< Computes the current vehicle state based on the vehicle position and navigator triplets. */
--
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