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ekf2: remove unnecessary const references

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This commit is contained in:
Daniel Agar
2022-04-29 21:39:02 -04:00
parent 4a6e958100
commit 6fc857772d
7 changed files with 69 additions and 69 deletions
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src/modules/ekf2/EKF/sideslip_fusion.cpp
+9 -9
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@@ -48,19 +48,19 @@
void Ekf::fuseSideslip()
{
// get latest estimated orientation
const float &q0 = _state.quat_nominal(0);
const float &q1 = _state.quat_nominal(1);
const float &q2 = _state.quat_nominal(2);
const float &q3 = _state.quat_nominal(3);
const float q0 = _state.quat_nominal(0);
const float q1 = _state.quat_nominal(1);
const float q2 = _state.quat_nominal(2);
const float q3 = _state.quat_nominal(3);
// get latest velocity in earth frame
const float &vn = _state.vel(0);
const float &ve = _state.vel(1);
const float &vd = _state.vel(2);
const float vn = _state.vel(0);
const float ve = _state.vel(1);
const float vd = _state.vel(2);
// get latest wind velocity in earth frame
const float &vwn = _state.wind_vel(0);
const float &vwe = _state.wind_vel(1);
const float vwn = _state.wind_vel(0);
const float vwe = _state.wind_vel(1);
// calculate relative wind velocity in earth frame and rotate into body frame
const Vector3f rel_wind_earth(vn - vwn, ve - vwe, vd);