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AirspeedSelector: add const

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-01-22 14:16:22 +01:00
parent cd2c366e22
commit 061fb9ac07
1 changed files with 3 additions and 5 deletions
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src/modules/airspeed_selector/airspeed_selector_main.cpp
+3 -5
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@@ -304,8 +304,8 @@ AirspeedModule::Run()
if (_number_of_airspeed_sensors > 0) {
bool fixed_wing = !_vtol_vehicle_status.vtol_in_rw_mode;
bool in_air = !_vehicle_land_detected.landed;
const bool fixed_wing = !_vtol_vehicle_status.vtol_in_rw_mode;
const bool in_air = !_vehicle_land_detected.landed;
// Prepare data for airspeed_validator
struct airspeed_validator_update_data input_data = {};
@@ -456,12 +456,10 @@ void AirspeedModule::poll_topics()
void AirspeedModule::update_wind_estimator_sideslip()
{
bool att_valid = true; // TODO: check if attitude is valid
// update wind and airspeed estimator
_wind_estimator_sideslip.update(_time_now_usec);
if (_vehicle_local_position_valid && att_valid && !_vtol_vehicle_status.vtol_in_rw_mode) {
if (_vehicle_local_position_valid && !_vtol_vehicle_status.vtol_in_rw_mode) {
Vector3f vI(_vehicle_local_position.vx, _vehicle_local_position.vy, _vehicle_local_position.vz);
Quatf q(_vehicle_attitude.q);