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commander use const where possible

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- this helps tease apart the various pieces of commander.
This commit is contained in:
Daniel Agar
2018-03-29 10:25:56 -04:00
parent 0038a5e755
commit c194c1acb5
5 changed files with 179 additions and 182 deletions
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src/modules/commander/Commander.hpp
+28 -7
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@@ -34,6 +34,8 @@
#ifndef COMMANDER_HPP_
#define COMMANDER_HPP_
#include "state_machine_helper.h"
#include <controllib/blocks.hpp>
#include <px4_module.h>
#include <px4_module_params.h>
@@ -90,14 +92,33 @@ private:
// Subscriptions
Subscription<mission_result_s> _mission_result_sub;
bool handle_command(vehicle_status_s *status, const safety_s *safety, vehicle_command_s *cmd,
actuator_armed_s *armed, home_position_s *home, vehicle_global_position_s *global_pos,
vehicle_local_position_s *local_pos, orb_advert_t *home_pub,
orb_advert_t *command_ack_pub, bool *changed);
bool handle_command(vehicle_status_s *status_local, const safety_s &safety_local, const vehicle_command_s &cmd,
actuator_armed_s *armed_local, home_position_s *home, const vehicle_global_position_s &global_pos,
const vehicle_local_position_s &local_pos, orb_advert_t *home_pub, orb_advert_t *command_ack_pub, bool *changed);
bool set_home_position(orb_advert_t &homePub, home_position_s &home,
const vehicle_local_position_s &localPosition, const vehicle_global_position_s &globalPosition,
bool set_alt_only_to_lpos_ref);
bool set_home_position(orb_advert_t &homePub, home_position_s &home, const vehicle_local_position_s &localPosition,
const vehicle_global_position_s &globalPosition, bool set_alt_only_to_lpos_ref);
// Set the main system state based on RC and override device inputs
transition_result_t set_main_state(const vehicle_status_s &status, const vehicle_global_position_s &global_position,
const vehicle_local_position_s &local_position, bool *changed);
// Enable override (manual reversion mode) on the system
transition_result_t set_main_state_override_on(const vehicle_status_s &status_local, bool *changed);
// Set the system main state based on the current RC inputs
transition_result_t set_main_state_rc(const vehicle_status_s &status_local,
const vehicle_global_position_s &global_position, const vehicle_local_position_s &local_position, bool *changed);
void check_valid(const hrt_abstime &timestamp, const hrt_abstime &timeout, const bool valid_in, bool *valid_out,
bool *changed);
bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us, bool *valid_state,
bool *validity_changed);
void reset_posvel_validity(const vehicle_global_position_s &global_position,
const vehicle_local_position_s &local_position, bool *changed);
void mission_init();