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flight_tasks: pass previous setpoint as const reference

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- perform setpoint checks in place to simplify and avoid copy
This commit is contained in:
Daniel Agar
2020-08-04 12:42:36 -04:00
parent e28395a58b
commit de59d6c788
26 changed files with 71 additions and 117 deletions
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2
src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
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@@ -61,7 +61,7 @@ bool FlightTaskManualAltitude::updateInitialize()
return ret && PX4_ISFINITE(_position(2)) && PX4_ISFINITE(_velocity(2)) && PX4_ISFINITE(_yaw);
}
bool FlightTaskManualAltitude::activate(vehicle_local_position_setpoint_s last_setpoint)
bool FlightTaskManualAltitude::activate(const vehicle_local_position_setpoint_s &last_setpoint)
{
bool ret = FlightTask::activate(last_setpoint);
_yaw_setpoint = NAN;