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ControlMath: reference to by value

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This commit is contained in:
Dennis Mannhart 2018-02-15 12:54:16 +01:00 committed by Beat Küng
parent 16d6ac6ad1
commit fc62df856d
2 changed files with 8 additions and 7 deletions
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11
src/modules/mc_pos_control/Utility/ControlMath.cpp
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@ -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;
}
}

4
src/modules/mc_pos_control/Utility/ControlMath.hpp
View File

@ -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);
}