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AntennaTracker: fixes for static RC_Channel methods going away

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going via the static methods threw away the const-correctness so we need a bunch of non-const equivalents of several const methods

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
This commit is contained in:
Peter Barker
2026-05-07 09:33:15 +10:00
committed by Peter Barker
co-authored by Claude Haiku 4.5
parent fe1507714c
commit 6ea8cfcef8
2 changed files with 9 additions and 3 deletions
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AntennaTracker/RC_Channel_Tracker.h
+7 -1
View File
@@ -19,7 +19,13 @@ public:
RC_Channel_Tracker obj_channels[NUM_RC_CHANNELS];
RC_Channel_Tracker *channel(const uint8_t chan) override {
if (chan >= NUM_RC_CHANNELS) {
if (chan >= ARRAY_SIZE(obj_channels)) {
return nullptr;
}
return &obj_channels[chan];
}
const RC_Channel_Tracker *channel(const uint8_t chan) const override {
if (chan >= ARRAY_SIZE(obj_channels)) {
return nullptr;
}
return &obj_channels[chan];
AntennaTracker/mode_manual.cpp
+2 -2
View File
@@ -11,9 +11,9 @@
void ModeManual::update()
{
// copy yaw and pitch input to output
SRV_Channels::set_output_pwm(SRV_Channel::k_tracker_yaw, RC_Channels::rc_channel(CH_YAW)->get_radio_in());
SRV_Channels::set_output_pwm(SRV_Channel::k_tracker_yaw, rc().channel(CH_YAW)->get_radio_in());
SRV_Channels::constrain_pwm(SRV_Channel::k_tracker_yaw);
SRV_Channels::set_output_pwm(SRV_Channel::k_tracker_pitch, RC_Channels::rc_channel(CH_PITCH)->get_radio_in());
SRV_Channels::set_output_pwm(SRV_Channel::k_tracker_pitch, rc().channel(CH_PITCH)->get_radio_in());
SRV_Channels::constrain_pwm(SRV_Channel::k_tracker_pitch);
}