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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/gps_checks.cpp
+6 -6
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@@ -62,8 +62,8 @@ bool Ekf::collect_gps(const gps_message &gps)
_gps_checks_passed = gps_is_good(gps);
if (!_NED_origin_initialised && _gps_checks_passed) {
// If we have good GPS data set the origin's WGS-84 position to the last gps fix
double lat = gps.lat / 1.0e7;
double lon = gps.lon / 1.0e7;
const double lat = gps.lat / 1.0e7;
const double lon = gps.lon / 1.0e7;
map_projection_init_timestamped(&_pos_ref, lat, lon, _time_last_imu);
// if we are already doing aiding, correct for the change in position since the EKF started navigationg
@@ -137,12 +137,12 @@ bool Ekf::gps_is_good(const gps_message &gps)
// Calculate time lapsed since last update, limit to prevent numerical errors and calculate a lowpass filter coefficient
const float filt_time_const = 10.0f;
float dt = fminf(fmaxf(float(_time_last_imu - _gps_pos_prev.timestamp) * 1e-6f, 0.001f), filt_time_const);
float filter_coef = dt / filt_time_const;
const float dt = fminf(fmaxf(float(_time_last_imu - _gps_pos_prev.timestamp) * 1e-6f, 0.001f), filt_time_const);
const float filter_coef = dt / filt_time_const;
// The following checks are only valid when the vehicle is at rest
double lat = gps.lat * 1.0e-7;
double lon = gps.lon * 1.0e-7;
const double lat = gps.lat * 1.0e-7;
const double lon = gps.lon * 1.0e-7;
if (!_control_status.flags.in_air && _vehicle_at_rest) {
// Calculate position movement since last measurement
float delta_pos_n = 0.0f;