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refactor(navigator): pass PositionYawSetpoint and loiter_point_s by const reference

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This commit is contained in:
Jacob Dahl
2026-03-15 12:04:50 -08:00
committed by Jacob Dahl
parent 6f7ae9b5e5
commit 37745a97d3
2 changed files with 4 additions and 4 deletions
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src/modules/navigator/rtl_direct.cpp
+2 -2
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@@ -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};
src/modules/navigator/rtl_direct.h
+2 -2
View File
@@ -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.