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PreflightCheck: add const qualifiers to parameters

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This commit is contained in:
Matthias Grob
2019-10-09 08:03:07 +02:00
committed by Beat Küng
parent c570dc9315
commit 8e0ee88e0a
2 changed files with 22 additions and 22 deletions
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src/modules/commander/PreflightCheck.cpp
+21 -21
View File
@@ -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
src/modules/commander/PreflightCheck.h
+1 -1
View File
@@ -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;