From 37745a97d3b3e1ad03b5634c958f41f50d8c5a44 Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Sun, 15 Mar 2026 12:04:50 -0800 Subject: [PATCH] refactor(navigator): pass PositionYawSetpoint and loiter_point_s by const reference --- src/modules/navigator/rtl_direct.cpp | 4 ++-- src/modules/navigator/rtl_direct.h | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/navigator/rtl_direct.cpp b/src/modules/navigator/rtl_direct.cpp index 9c53bca44f..440b8a15b8 100644 --- a/src/modules/navigator/rtl_direct.cpp +++ b/src/modules/navigator/rtl_direct.cpp @@ -123,7 +123,7 @@ void RtlDirect::on_inactive() _vehicle_status_sub.update(); } -void RtlDirect::setRtlPosition(PositionYawSetpoint rtl_position, loiter_point_s loiter_pos) +void RtlDirect::setRtlPosition(const PositionYawSetpoint &rtl_position, const loiter_point_s &loiter_pos) { parameters_update(); @@ -556,7 +556,7 @@ void RtlDirect::parameters_update() } } -loiter_point_s RtlDirect::sanitizeLandApproach(loiter_point_s land_approach) const +loiter_point_s RtlDirect::sanitizeLandApproach(const loiter_point_s &land_approach) const { loiter_point_s sanitized_land_approach{land_approach}; diff --git a/src/modules/navigator/rtl_direct.h b/src/modules/navigator/rtl_direct.h index 40fb18e0cc..9d86d6e5b6 100644 --- a/src/modules/navigator/rtl_direct.h +++ b/src/modules/navigator/rtl_direct.h @@ -107,7 +107,7 @@ public: void setReturnAltMin(bool min) { _enforce_rtl_alt = min; } void setRtlAlt(float alt) {_rtl_alt = alt;}; - void setRtlPosition(PositionYawSetpoint position, loiter_point_s loiter_pos); + void setRtlPosition(const PositionYawSetpoint &position, const loiter_point_s &loiter_pos); bool isLanding() { return (_rtl_state != RTLState::IDLE) && (_rtl_state >= RTLState::LOITER_DOWN);}; @@ -145,7 +145,7 @@ private: * @brief sanitize land_approach * */ - loiter_point_s sanitizeLandApproach(loiter_point_s land_approach) const; + loiter_point_s sanitizeLandApproach(const loiter_point_s &land_approach) const; /** * Check for parameter changes and update them if needed.