From 76c94b08f11eb152e72d335c6d10a732a3abf755 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Wed, 13 Jun 2018 12:11:38 +0200 Subject: [PATCH] PositionControl: use constant references instead of pass-by-value for structs --- src/modules/mc_pos_control/PositionControl.cpp | 4 ++-- src/modules/mc_pos_control/PositionControl.hpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp index 3dec5711d4..4c23c3e4b2 100644 --- a/src/modules/mc_pos_control/PositionControl.cpp +++ b/src/modules/mc_pos_control/PositionControl.cpp @@ -71,7 +71,7 @@ PositionControl::PositionControl() _setParams(); }; -void PositionControl::updateState(const struct vehicle_local_position_s state, const Vector3f &vel_dot) +void PositionControl::updateState(const vehicle_local_position_s &state, const Vector3f &vel_dot) { _pos = Vector3f(&state.x); _vel = Vector3f(&state.vx); @@ -79,7 +79,7 @@ void PositionControl::updateState(const struct vehicle_local_position_s state, c _vel_dot = vel_dot; } -void PositionControl::updateSetpoint(struct vehicle_local_position_setpoint_s setpoint) +void PositionControl::updateSetpoint(const vehicle_local_position_setpoint_s &setpoint) { _pos_sp = Vector3f(&setpoint.x); _vel_sp = Vector3f(&setpoint.vx); diff --git a/src/modules/mc_pos_control/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl.hpp index 62905137aa..ba9dd97685 100644 --- a/src/modules/mc_pos_control/PositionControl.hpp +++ b/src/modules/mc_pos_control/PositionControl.hpp @@ -64,8 +64,8 @@ public: ~PositionControl() {}; - void updateState(const struct vehicle_local_position_s state, const matrix::Vector3f &vel_dot); - void updateSetpoint(struct vehicle_local_position_setpoint_s setpoint); + void updateState(const vehicle_local_position_s &state, const matrix::Vector3f &vel_dot); + void updateSetpoint(const vehicle_local_position_setpoint_s &setpoint); void updateConstraints(const Controller::Constraints &constraints); void generateThrustYawSetpoint(const float &dt);