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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/vel_pos_fusion.cpp
+4 -4
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@@ -54,7 +54,7 @@ bool Ekf::fuseHorizontalVelocity(const Vector3f &innov, const Vector2f &innov_ga
test_ratio(0) = fmaxf( sq(innov(0)) / (sq(innov_gate(0)) * innov_var(0)),
sq(innov(1)) / (sq(innov_gate(0)) * innov_var(1)));
bool innov_check_pass = (test_ratio(0) <= 1.0f);
const bool innov_check_pass = (test_ratio(0) <= 1.0f);
if (innov_check_pass)
{
_time_last_hor_vel_fuse = _time_last_imu;
@@ -76,7 +76,7 @@ bool Ekf::fuseVerticalVelocity(const Vector3f &innov, const Vector2f &innov_gate
innov_var(2) = P(6,6) + obs_var(2);
test_ratio(1) = sq(innov(2)) / (sq(innov_gate(1)) * innov_var(2));
bool innov_check_pass = (test_ratio(1) <= 1.0f);
const bool innov_check_pass = (test_ratio(1) <= 1.0f);
if (innov_check_pass) {
_time_last_ver_vel_fuse = _time_last_imu;
_innov_check_fail_status.flags.reject_ver_vel = false;
@@ -124,7 +124,7 @@ bool Ekf::fuseVerticalPosition(const Vector3f &innov, const Vector2f &innov_gate
innov_var(2) = P(9,9) + obs_var(2);
test_ratio(1) = sq(innov(2)) / (sq(innov_gate(1)) * innov_var(2));
bool innov_check_pass = (test_ratio(1) <= 1.0f) || !_control_status.flags.tilt_align;
const bool innov_check_pass = (test_ratio(1) <= 1.0f) || !_control_status.flags.tilt_align;
if (innov_check_pass) {
_time_last_hgt_fuse = _time_last_imu;
_innov_check_fail_status.flags.reject_ver_pos = false;
@@ -142,7 +142,7 @@ bool Ekf::fuseVerticalPosition(const Vector3f &innov, const Vector2f &innov_gate
void Ekf::fuseVelPosHeight(const float innov, const float innov_var, const int obs_index)
{
float Kfusion[24] = {}; // Kalman gain vector for any single observation - sequential fusion is used.
unsigned state_index = obs_index + 4; // we start with vx and this is the 4. state
const unsigned state_index = obs_index + 4; // we start with vx and this is the 4. state
// calculate kalman gain K = PHS, where S = 1/innovation variance
for (int row = 0; row < _k_num_states; row++) {