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Add const modifier

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This commit is contained in:
kamilritz
2020-07-16 18:25:06 +02:00
committed by Mathieu Bresciani
parent 93011ed52c
commit 3d82d822ae
5 changed files with 16 additions and 18 deletions
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EKF/mag_fusion.cpp
+4 -4
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@@ -792,7 +792,7 @@ void Ekf::fuseHeading()
// unconstrained quaternion variance growth and record the predicted heading
// to use as an observation when movement ceases.
// TODO a better way of determining when this is necessary
float sumQuatVar = P(0,0) + P(1,1) + P(2,2) + P(3,3);
const float sumQuatVar = P(0,0) + P(1,1) + P(2,2) + P(3,3);
if (sumQuatVar > _params.quat_max_variance) {
fuse_zero_innov = true;
R_YAW = 0.25f;
@@ -859,7 +859,7 @@ void Ekf::fuseHeading()
// unconstrained quaterniion variance growth and record the predicted heading
// to use as an observation when movement ceases.
// TODO a better way of determining when this is necessary
float sumQuatVar = P(0,0) + P(1,1) + P(2,2) + P(3,3);
const float sumQuatVar = P(0,0) + P(1,1) + P(2,2) + P(3,3);
if (sumQuatVar > _params.quat_max_variance) {
fuse_zero_innov = true;
R_YAW = 0.25f;
@@ -891,7 +891,7 @@ void Ekf::fuseDeclination(float decl_sigma)
const float magE = _state.mag_I(1);
// minimum horizontal field strength before calculation becomes badly conditioned (T)
const float h_field_min = 0.001f;
constexpr float h_field_min = 0.001f;
// observation variance (rad**2)
const float R_DECL = sq(decl_sigma);
@@ -1050,7 +1050,7 @@ void Ekf::limitDeclination()
}
// do not allow the declination estimate to vary too much relative to the reference value
const float decl_tolerance = 0.5f;
constexpr float decl_tolerance = 0.5f;
const float decl_max = decl_reference + decl_tolerance;
const float decl_min = decl_reference - decl_tolerance;
const float decl_estimate = atan2f(_state.mag_I(1) , _state.mag_I(0));