fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

TranslationControl: use reference insteady of by value

Browse Source
This commit is contained in:
Dennis Mannhart 2017-12-20 20:06:34 +01:00 committed by Beat Küng
parent ded8675dae
commit 2a544cee43
2 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/modules/mc_pos_control/TranslationControl.cpp
View File

@ -71,8 +71,8 @@ TranslationControl::TranslationControl()
_setParams();
};
void TranslationControl::updateState(const struct vehicle_local_position_s state, const matrix::Vector3f vel_dot,
const matrix::Matrix<float, 3, 3> R)
void TranslationControl::updateState(const struct vehicle_local_position_s state, const matrix::Vector3f &vel_dot,
const matrix::Matrix<float, 3, 3> &R)
{
_pos = Data(&state.x);
_vel = Data(&state.vx);

4
src/modules/mc_pos_control/TranslationControl.hpp
View File

@ -64,8 +64,8 @@ public:
~TranslationControl() {};
void updateState(const struct vehicle_local_position_s state, const matrix::Vector3f vel_dot,
const matrix::Matrix<float, 3, 3> R);
void updateState(const struct vehicle_local_position_s state, const matrix::Vector3f &vel_dot,
const matrix::Matrix<float, 3, 3> &R);
void updateSetpoint(struct vehicle_local_position_setpoint_s setpoint);
void updateConstraints(const Controller::Constraints &constraints);
void generateThrustYawSetpoint(const float &dt);