From 2d7653406a268c1258a0534312095dfcd83fa812 Mon Sep 17 00:00:00 2001
From: Balduin <balduin@auterion.com>
Date: Mon, 14 Jul 2025 18:04:13 +0200
Subject: [PATCH] cs_check: const where possible

---
 .../control_allocator/ControlAllocator.cpp       |  8 ++++----
 .../control_allocator/ControlAllocator.hpp       | 16 ++++++++--------
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp
index c2894dbcc0..aa3360669c 100644
--- a/src/modules/control_allocator/ControlAllocator.cpp
+++ b/src/modules/control_allocator/ControlAllocator.cpp
@@ -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);
 
diff --git a/src/modules/control_allocator/ControlAllocator.hpp b/src/modules/control_allocator/ControlAllocator.hpp
index 45d6256413..668a832d30 100644
--- a/src/modules/control_allocator/ControlAllocator.hpp
+++ b/src/modules/control_allocator/ControlAllocator.hpp
@@ -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