fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-04 19:41:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add const modifier

Browse Source
This commit is contained in:
Kamil Ritz
2020-08-24 19:24:27 +10:00
committed by Paul Riseborough
parent aa2c77f92d
commit 1f637af7de
3 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/mag_fusion.cpp
+2 -2
View File
@@ -812,8 +812,8 @@ void Ekf::fuseHeading()
} else if (_control_status.flags.ev_yaw) {
// calculate the yaw angle for a 312 sequence
// Values from yaw_input_312.c file produced by https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/quat2yaw312.m
float Tbn_0_1_neg = 2.0f*(_ev_sample_delayed.quat(0)*_ev_sample_delayed.quat(3)-_ev_sample_delayed.quat(1)*_ev_sample_delayed.quat(2));
float Tbn_1_1 = sq(_ev_sample_delayed.quat(0))-sq(_ev_sample_delayed.quat(1))+sq(_ev_sample_delayed.quat(2))-sq(_ev_sample_delayed.quat(3));
const float Tbn_0_1_neg = 2.0f*(_ev_sample_delayed.quat(0)*_ev_sample_delayed.quat(3)-_ev_sample_delayed.quat(1)*_ev_sample_delayed.quat(2));
const float Tbn_1_1 = sq(_ev_sample_delayed.quat(0))-sq(_ev_sample_delayed.quat(1))+sq(_ev_sample_delayed.quat(2))-sq(_ev_sample_delayed.quat(3));
measured_hdg = atan2f(Tbn_0_1_neg,Tbn_1_1);
} else {