From 8e0ee88e0ac4ad46c0e2e55ecd4c4c8995e55a6f Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 8 Oct 2019 14:57:52 +0200 Subject: [PATCH] PreflightCheck: add const qualifiers to parameters to help readability --- src/modules/commander/PreflightCheck.cpp | 42 ++++++++++++------------ src/modules/commander/PreflightCheck.h | 2 +- 2 files changed, 22 insertions(+), 22 deletions(-) diff --git a/src/modules/commander/PreflightCheck.cpp b/src/modules/commander/PreflightCheck.cpp index 2322666b3b..b36da0f013 100644 --- a/src/modules/commander/PreflightCheck.cpp +++ b/src/modules/commander/PreflightCheck.cpp @@ -66,7 +66,7 @@ using namespace time_literals; namespace Preflight { -static bool check_calibration(const char *param_template, int32_t device_id) +static bool check_calibration(const char *param_template, const int32_t device_id) { bool calibration_found = false; @@ -101,8 +101,8 @@ static bool check_calibration(const char *param_template, int32_t device_id) return calibration_found; } -static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, uint8_t instance, bool optional, - int32_t &device_id, bool report_fail) +static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance, + const bool optional, int32_t &device_id, const bool report_fail) { const bool exists = (orb_exists(ORB_ID(sensor_mag), instance) == PX4_OK); bool calibration_valid = false; @@ -148,7 +148,7 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &sta return success; } -static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, bool report_status) +static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status) { float test_limit = 1.0f; // pass limit re-used for each test @@ -198,7 +198,7 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s } // return false if the magnetomer measurements are inconsistent -static bool magConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, bool report_status) +static bool magConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status) { bool pass = false; // flag for result of checks @@ -231,8 +231,8 @@ static bool magConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s return pass; } -static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, uint8_t instance, - bool optional, bool dynamic, int32_t &device_id, bool report_fail) +static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance, + const bool optional, const bool dynamic, int32_t &device_id, const bool report_fail) { const bool exists = (orb_exists(ORB_ID(sensor_accel), instance) == PX4_OK); bool calibration_valid = false; @@ -295,8 +295,8 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s & return success; } -static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, uint8_t instance, bool optional, - int32_t &device_id, bool report_fail) +static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance, + const bool optional, int32_t &device_id, const bool report_fail) { const bool exists = (orb_exists(ORB_ID(sensor_gyro), instance) == PX4_OK); bool calibration_valid = false; @@ -340,8 +340,8 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, u return calibration_valid && gyro_valid; } -static bool baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, uint8_t instance, bool optional, - int32_t &device_id, bool report_fail) +static bool baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance, + const bool optional, int32_t &device_id, const bool report_fail) { const bool exists = (orb_exists(ORB_ID(sensor_baro), instance) == PX4_OK); bool baro_valid = false; @@ -371,8 +371,8 @@ static bool baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, u return baro_valid; } -static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, bool optional, bool report_fail, - bool prearm) +static bool airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool optional, + const bool report_fail, const bool prearm) { bool present = true; bool success = true; @@ -428,7 +428,8 @@ out: return success; } -static bool powerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, bool report_fail, bool prearm) +static bool powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail, + const bool prearm) { bool success = true; @@ -472,8 +473,8 @@ static bool powerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, return success; } -static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_status, bool optional, bool report_fail, - bool enforce_gps_required) +static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_status, const bool optional, + const bool report_fail, const bool enforce_gps_required) { bool success = true; // start with a pass and change to a fail if any test fails bool present = true; @@ -661,8 +662,8 @@ out: return success; } -static bool failureDetectorCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, bool report_fail, - bool prearm) +static bool failureDetectorCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail, + const bool prearm) { bool success = true; @@ -693,9 +694,8 @@ static bool failureDetectorCheck(orb_advert_t *mavlink_log_pub, const vehicle_st return success; } -bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, - vehicle_status_flags_s &status_flags, bool checkGNSS, bool reportFailures, bool prearm, - const hrt_abstime &time_since_boot) +bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, vehicle_status_flags_s &status_flags, + const bool checkGNSS, bool reportFailures, const bool prearm, const hrt_abstime &time_since_boot) { if (time_since_boot < 2_s) { // the airspeed driver filter doesn't deliver the actual value yet diff --git a/src/modules/commander/PreflightCheck.h b/src/modules/commander/PreflightCheck.h index c792d042d6..9962ee98d9 100644 --- a/src/modules/commander/PreflightCheck.h +++ b/src/modules/commander/PreflightCheck.h @@ -73,7 +73,7 @@ namespace Preflight * true if the system power should be checked **/ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, - vehicle_status_flags_s &status_flags, bool checkGNSS, bool reportFailures, bool prearm, + vehicle_status_flags_s &status_flags, const bool checkGNSS, bool reportFailures, const bool prearm, const hrt_abstime &time_since_boot); static constexpr unsigned max_mandatory_gyro_count = 1;