From fc62df856d09239e8a69a97abe37c3a98721ab37 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis.mannhart@gmail.com>
Date: Thu, 15 Feb 2018 12:54:16 +0100
Subject: [PATCH] ControlMath: reference to by value
---
src/modules/mc_pos_control/Utility/ControlMath.cpp | 11 ++++++-----
src/modules/mc_pos_control/Utility/ControlMath.hpp | 4 ++--
2 files changed, 8 insertions(+), 7 deletions(-)
diff --git a/src/modules/mc_pos_control/Utility/ControlMath.cpp b/src/modules/mc_pos_control/Utility/ControlMath.cpp
index 9870d7f22e..6fa4cc0884 100644
--- a/src/modules/mc_pos_control/Utility/ControlMath.cpp
+++ b/src/modules/mc_pos_control/Utility/ControlMath.cpp
@@ -58,17 +58,19 @@ namespace ControlMath
* Tilt is adjusted such that vector component in D-direction
* has higher priority.
*/
-matrix::Vector3f constrainTilt(const matrix::Vector3f &vec, const float &tilt_max)
+matrix::Vector3f constrainTilt(const matrix::Vector3f &vec, const float maximum_tilt)
{
/* We only consider maximum tilt < 90 */
+ float tilt_max = maximum_tilt;
+
if (tilt_max > M_PI_2_F) {
- return vec;
+ tilt_max = M_PI_2_F;
}
/* Desired tilt is above 90 -> in order to stay within tilt,
* vector has to be zero (N-E-D frame)*/
if (vec(2) > 0.0f) {
- return matrix::Vector3f{};
+ return matrix::Vector3f();
}
/* Maximum tilt is 0 */
@@ -160,7 +162,7 @@ void constrainPIDu(matrix::Vector3f &u, bool stop_I[2], const float Ulimits[2],
}
}
-vehicle_attitude_setpoint_s thrustToAttitude(const matrix::Vector3f &thr_sp, const float &yaw_sp)
+vehicle_attitude_setpoint_s thrustToAttitude(const matrix::Vector3f &thr_sp, const float yaw_sp)
{
vehicle_attitude_setpoint_s att_sp;
@@ -225,6 +227,5 @@ vehicle_attitude_setpoint_s thrustToAttitude(const matrix::Vector3f &thr_sp, con
att_sp.thrust = thr_sp.length();
return att_sp;
-
}
}
diff --git a/src/modules/mc_pos_control/Utility/ControlMath.hpp b/src/modules/mc_pos_control/Utility/ControlMath.hpp
index 7baff69826..ca0058e8bf 100644
--- a/src/modules/mc_pos_control/Utility/ControlMath.hpp
+++ b/src/modules/mc_pos_control/Utility/ControlMath.hpp
@@ -46,7 +46,7 @@
namespace ControlMath
{
-matrix::Vector3f constrainTilt(const matrix::Vector3f &vec, const float &tilt_max);
+matrix::Vector3f constrainTilt(const matrix::Vector3f &vec, const float tilt_max);
void constrainPIDu(matrix::Vector3f &u, bool stop_I[2], const float Ulimits[2], const float d[2]);
-vehicle_attitude_setpoint_s thrustToAttitude(const matrix::Vector3f &thr_sp, const float &yaw_sp);
+vehicle_attitude_setpoint_s thrustToAttitude(const matrix::Vector3f &thr_sp, const float yaw_sp);
}
--
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