AC_AttitudeControl: change to const Vector3f &ang_vel_body

lthall · Jun 20, 2024 · c908522 · c908522
1 parent 5b707f6
commit c908522
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Showing 4 changed files with 5 additions and 5 deletions.
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -228,7 +228,7 @@ void AC_AttitudeControl::reset_rate_controller_I_terms_smoothly()
 
 // Command a Quaternion attitude with feedforward and smoothing
 // attitude_desired_quat: is updated on each time_step by the integral of the body frame angular velocity
-void AC_AttitudeControl::input_quaternion(Quaternion& attitude_desired_quat, Vector3f ang_vel_body)
+void AC_AttitudeControl::input_quaternion(Quaternion& attitude_desired_quat, const Vector3f &ang_vel_body)
 {
     Quaternion attitude_error_quat = _attitude_target.inverse() * attitude_desired_quat;
     Vector3f attitude_error_angle;

diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -161,7 +161,7 @@ class AC_AttitudeControl {
 
     // Command a Quaternion attitude with feedforward and smoothing
     // attitude_desired_quat: is updated on each time_step (_dt) by the integral of the body frame angular velocity
-    virtual void input_quaternion(Quaternion& attitude_desired_quat, Vector3f ang_vel_body);
+    virtual void input_quaternion(Quaternion& attitude_desired_quat, const Vector3f &ang_vel_body);
 
     // Command an euler roll and pitch angle and an euler yaw rate with angular velocity feedforward and smoothing
     virtual void input_euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds);

diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.cpp
@@ -148,7 +148,7 @@ void AC_AttitudeControl_Multi_6DoF::input_angle_step_bf_roll_pitch_yaw(float rol
 
 // Command a Quaternion attitude with feedforward and smoothing
 // attitude_desired_quat: is updated on each time_step (_dt) by the integral of the angular velocity
-void AC_AttitudeControl_Multi_6DoF::input_quaternion(Quaternion& attitude_desired_quat, Vector3f ang_vel_body) {
+void AC_AttitudeControl_Multi_6DoF::input_quaternion(Quaternion& attitude_desired_quat, const Vector3f &ang_vel_body) {
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     AP_HAL::panic("input_quaternion not implemented AC_AttitudeControl_Multi_6DoF");
 #endif

diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.h
@@ -19,8 +19,8 @@ class AC_AttitudeControl_Multi_6DoF : public AC_AttitudeControl_Multi {
     }
 
     // Command a Quaternion attitude with feedforward and smoothing
-    // attitude_desired_quat: is updated on each time_step (_dt) by the integral of the angular velocity
-    void input_quaternion(Quaternion& attitude_desired_quat, Vector3f ang_vel_body) override;
+    // attitude_desired_quat: is updated on each time_step (_dt) by the integral of the body frame angular velocity
+    void input_quaternion(Quaternion& attitude_desired_quat, const Vector3f &ang_vel_body) override;
     /*
         override input functions to attitude controller and convert desired angles into thrust angles and substitute for offset angles
     */