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commander is_safe() use const references

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Daniel Agar
2018-03-27 15:53:56 -04:00
parent 376b5e4747
commit f59b7c7399
4 changed files with 10 additions and 10 deletions
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6
src/modules/commander/state_machine_helper.cpp
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@@ -379,15 +379,15 @@ transition_result_t arming_state_transition(vehicle_status_s *status,
return ret;
}
bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed)
bool is_safe(const safety_s& safety, const actuator_armed_s& armed)
{
// System is safe if:
// 1) Not armed
// 2) Armed, but in software lockdown (HIL)
// 3) Safety switch is present AND engaged -> actuators locked
const bool lockdown = (armed->lockdown || armed->manual_lockdown);
const bool lockdown = (armed.lockdown || armed.manual_lockdown);
return !armed->armed || (armed->armed && lockdown) || (safety->safety_switch_available && !safety->safety_off);
return !armed.armed || (armed.armed && lockdown) || (safety.safety_switch_available && !safety.safety_off);
}
transition_result_t