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Add missing const qualifier

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kamilritz
2019-12-25 17:13:05 +01:00
committed by Mathieu Bresciani
parent 066392ef02
commit 9e6d27fafb
14 changed files with 225 additions and 245 deletions
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EKF/estimator_interface.cpp
+3 -4
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@@ -385,10 +385,9 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
flow_magnitude_good = (flow_rate_magnitude <= _flow_max_rate);
}
bool relying_on_flow = !_control_status.flags.gps && !_control_status.flags.ev_pos && !_control_status.flags.ev_vel;
const bool relying_on_flow = !_control_status.flags.gps && !_control_status.flags.ev_pos && !_control_status.flags.ev_vel;
// check quality metric
bool flow_quality_good = (flow->quality >= _params.flow_qual_min);
const bool flow_quality_good = (flow->quality >= _params.flow_qual_min);
// Check data validity and write to buffers
// Invalid flow data is allowed when on ground and is handled as a special case in controlOpticalFlowFusion()
@@ -507,7 +506,7 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
// set the observation buffer length to handle the minimum time of arrival between observations in combination
// with the worst case delay from current time to ekf fusion time
// allow for worst case 50% extension of the ekf fusion time horizon delay due to timing jitter
uint16_t ekf_delay_ms = max_time_delay_ms + (int)(ceilf((float)max_time_delay_ms * 0.5f));
const uint16_t ekf_delay_ms = max_time_delay_ms + (int)(ceilf((float)max_time_delay_ms * 0.5f));
_obs_buffer_length = (ekf_delay_ms / _params.sensor_interval_min_ms) + 1;
// limit to be no longer than the IMU buffer (we can't process data faster than the EKF prediction rate)