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Add missing const modifier

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kamilritz
2020-03-10 21:05:04 +01:00
committed by Mathieu Bresciani
parent 7e20d9df14
commit 975060d108
1 changed files with 3 additions and 3 deletions
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EKF/ekf_helper.cpp
+3 -3
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@@ -447,9 +447,9 @@ bool Ekf::realignYawGPS()
}
// use the combined EKF and GPS speed variance to calculate a rough estimate of the yaw error after alignment
float SpdErrorVariance = sq(_gps_sample_delayed.sacc) + P(4,4) + P(5,5);
float sineYawError = math::constrain(sqrtf(SpdErrorVariance) / gpsSpeed, 0.0f, 1.0f);
float yaw_variance_new = sq(asinf(sineYawError));
const float SpdErrorVariance = sq(_gps_sample_delayed.sacc) + P(4,4) + P(5,5);
const float sineYawError = math::constrain(sqrtf(SpdErrorVariance) / gpsSpeed, 0.0f, 1.0f);
const float yaw_variance_new = sq(asinf(sineYawError));
// Apply updated yaw and yaw variance to states and covariances
resetQuatStateYaw(yaw_new, yaw_variance_new, true);