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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/sideslip_fusion.cpp
+10 -10
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@@ -53,19 +53,19 @@ void Ekf::fuseSideslip()
float R_BETA = _params.beta_noise;
// get latest estimated orientation
float q0 = _state.quat_nominal(0);
float q1 = _state.quat_nominal(1);
float q2 = _state.quat_nominal(2);
float q3 = _state.quat_nominal(3);
const float q0 = _state.quat_nominal(0);
const float q1 = _state.quat_nominal(1);
const float q2 = _state.quat_nominal(2);
const float q3 = _state.quat_nominal(3);
// get latest velocity in earth frame
float vn = _state.vel(0);
float ve = _state.vel(1);
float vd = _state.vel(2);
const float vn = _state.vel(0);
const float ve = _state.vel(1);
const float vd = _state.vel(2);
// get latest wind velocity in earth frame
float vwn = _state.wind_vel(0);
float vwe = _state.wind_vel(1);
const float vwn = _state.wind_vel(0);
const float vwe = _state.wind_vel(1);
// relative wind velocity in earth frame
Vector3f rel_wind;
@@ -73,7 +73,7 @@ void Ekf::fuseSideslip()
rel_wind(1) = ve - vwe;
rel_wind(2) = vd;
Dcmf earth_to_body = quat_to_invrotmat(_state.quat_nominal);
const Dcmf earth_to_body = quat_to_invrotmat(_state.quat_nominal);
// rotate into body axes
rel_wind = earth_to_body * rel_wind;