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cs_check: const where possible

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This commit is contained in:
Balduin
2025-07-14 18:04:13 +02:00
parent c7c020bd73
commit 2d7653406a
2 changed files with 12 additions and 12 deletions
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src/modules/control_allocator/ControlAllocator.cpp
+4 -4
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@@ -533,8 +533,8 @@ void ControlAllocator::preflight_check_start(vehicle_command_s &cmd, hrt_abstime
preflight_check_abort(now);
}
int axis = (uint8_t) lroundf(cmd.param1);
float input = cmd.param2;
const int axis = (uint8_t) lroundf(cmd.param1);
const float input = cmd.param2;
_preflight_check_running = true;
_preflight_check_axis = axis;
@@ -624,14 +624,14 @@ void ControlAllocator::preflight_check_overwrite_torque_sp(matrix::Vector<float,
void ControlAllocator::preflight_check_handle_tilt_control(hrt_abstime now)
{
bool is_tiltrotor = _effectiveness_source_id == EffectivenessSource::TILTROTOR_VTOL;
const bool is_tiltrotor = _effectiveness_source_id == EffectivenessSource::TILTROTOR_VTOL;
if (_preflight_check_running) {
if (_preflight_check_axis == vehicle_command_s::AXIS_COLLECTIVE_TILT) {
if (is_tiltrotor) {
float modified_tilt_control = math::constrain(_preflight_check_input, 0.f, 1.f);
const float modified_tilt_control = math::constrain(_preflight_check_input, 0.f, 1.f);
_actuator_effectiveness->overrideCollectiveTilt(true, modified_tilt_control);
src/modules/control_allocator/ControlAllocator.hpp
+8 -8
View File
@@ -147,14 +147,14 @@ private:
void publish_actuator_controls();
void preflight_check_overwrite_torque_sp(matrix::Vector<float, NUM_AXES> (&c)[ActuatorEffectiveness::MAX_NUM_MATRICES],
bool is_vtol);
void preflight_check_handle_command(hrt_abstime now);
void preflight_check_update_state(hrt_abstime now);
void preflight_check_handle_tilt_control(hrt_abstime now);
void preflight_check_start(vehicle_command_s &cmd, hrt_abstime now);
void preflight_check_send_ack(uint8_t result, hrt_abstime now);
void preflight_check_abort(hrt_abstime now);
void preflight_check_finish(hrt_abstime now);
const bool is_vtol);
void preflight_check_handle_command(const hrt_abstime now);
void preflight_check_update_state(const hrt_abstime now);
void preflight_check_handle_tilt_control(const hrt_abstime now);
void preflight_check_start(vehicle_command_s &cmd, const hrt_abstime now);
void preflight_check_send_ack(uint8_t result, const hrt_abstime now);
void preflight_check_abort(const hrt_abstime now);
void preflight_check_finish(const hrt_abstime now);
AllocationMethod _allocation_method_id{AllocationMethod::NONE};
ControlAllocation *_control_allocation[ActuatorEffectiveness::MAX_NUM_MATRICES] {}; ///< class for control allocation calculations