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Add missing const qualifier

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kamilritz
2020-01-08 09:00:31 +01:00
committed by Mathieu Bresciani
parent 066392ef02
commit 9e6d27fafb
14 changed files with 225 additions and 245 deletions
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EKF/ekf.cpp
+3 -3
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@@ -250,7 +250,7 @@ void Ekf::predictState()
{
// apply imu bias corrections
Vector3f corrected_delta_ang = _imu_sample_delayed.delta_ang - _state.delta_ang_bias;
Vector3f corrected_delta_vel = _imu_sample_delayed.delta_vel - _state.delta_vel_bias;
const Vector3f corrected_delta_vel = _imu_sample_delayed.delta_vel - _state.delta_vel_bias;
// correct delta angles for earth rotation rate
corrected_delta_ang -= -_R_to_earth.transpose() * _earth_rate_NED * _imu_sample_delayed.delta_ang_dt;
@@ -266,13 +266,13 @@ void Ekf::predictState()
_state.quat_nominal.normalize();
// save the previous value of velocity so we can use trapzoidal integration
Vector3f vel_last = _state.vel;
const Vector3f vel_last = _state.vel;
// update transformation matrix from body to world frame
_R_to_earth = Dcmf(_state.quat_nominal);
// Calculate an earth frame delta velocity
Vector3f corrected_delta_vel_ef = _R_to_earth * corrected_delta_vel;
const Vector3f corrected_delta_vel_ef = _R_to_earth * corrected_delta_vel;
// calculate a filtered horizontal acceleration with a 1 sec time constant
// this are used for manoeuvre detection elsewhere