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refactor(fw_mode_manager): pass position_setpoint_s by const reference

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This commit is contained in:
Jacob Dahl
2026-03-15 12:04:14 -08:00
committed by Jacob Dahl
parent 346690ba75
commit aba4bbb1ab
2 changed files with 4 additions and 4 deletions
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src/modules/fw_mode_manager/FixedWingModeManager.cpp
+2 -2
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@@ -1029,7 +1029,7 @@ FixedWingModeManager::controlAutoFigureEight(const float control_interval, const
}
}
void FixedWingModeManager::publishFigureEightStatus(const position_setpoint_s pos_sp)
void FixedWingModeManager::publishFigureEightStatus(const position_setpoint_s &pos_sp)
{
figure_eight_status_s figure_eight_status{};
figure_eight_status.timestamp = hrt_absolute_time();
@@ -2549,7 +2549,7 @@ void FixedWingModeManager::publishLocalPositionSetpoint(const position_setpoint_
_local_pos_sp_pub.publish(local_position_setpoint);
}
void FixedWingModeManager::publishOrbitStatus(const position_setpoint_s pos_sp)
void FixedWingModeManager::publishOrbitStatus(const position_setpoint_s &pos_sp)
{
orbit_status_s orbit_status{};
orbit_status.timestamp = hrt_absolute_time();
src/modules/fw_mode_manager/FixedWingModeManager.hpp
+2 -2
View File
@@ -418,7 +418,7 @@ private:
void controlAutoFigureEight(const float control_interval, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_curr);
void publishFigureEightStatus(const position_setpoint_s pos_sp);
void publishFigureEightStatus(const position_setpoint_s &pos_sp);
#endif // CONFIG_FIGURE_OF_EIGHT
// Update our local parameter cache.
@@ -672,7 +672,7 @@ private:
*/
void set_control_mode_current(const hrt_abstime &now);
void publishOrbitStatus(const position_setpoint_s pos_sp);
void publishOrbitStatus(const position_setpoint_s &pos_sp);
float getMaxRollAngleNearGround(const float altitude, const float terrain_altitude) const;