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Add const modifier

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const modifier


Add missing const modifier
This commit is contained in:
kamilritz
2020-07-16 18:25:06 +02:00
committed by Mathieu Bresciani
parent e357376797
commit b5e1397c0f
11 changed files with 65 additions and 70 deletions
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EKF/control.cpp
+5 -5
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@@ -771,10 +771,10 @@ void Ekf::controlHeightSensorTimeouts()
checkVerticalAccelerationHealth();
// check if height is continuously failing because of accel errors
bool continuous_bad_accel_hgt = isTimedOut(_time_good_vert_accel, (uint64_t)_params.bad_acc_reset_delay_us);
const bool continuous_bad_accel_hgt = isTimedOut(_time_good_vert_accel, (uint64_t)_params.bad_acc_reset_delay_us);
// check if height has been inertial deadreckoning for too long
bool hgt_fusion_timeout = isTimedOut(_time_last_hgt_fuse, (uint64_t)5e6);
const bool hgt_fusion_timeout = isTimedOut(_time_last_hgt_fuse, (uint64_t)5e6);
if (hgt_fusion_timeout || continuous_bad_accel_hgt) {
@@ -1079,8 +1079,8 @@ void Ekf::controlHeightFusion()
// Compensate for positive static pressure transients (negative vertical position innovations)
// caused by rotor wash ground interaction by applying a temporary deadzone to baro innovations.
float deadzone_start = 0.0f;
float deadzone_end = deadzone_start + _params.gnd_effect_deadzone;
const float deadzone_start = 0.0f;
const float deadzone_end = deadzone_start + _params.gnd_effect_deadzone;
if (_control_status.flags.gnd_effect) {
if (_baro_hgt_innov(2) < -deadzone_start) {
@@ -1225,7 +1225,7 @@ void Ekf::controlBetaFusion()
// Perform synthetic sideslip fusion when in-air and sideslip fuson had been enabled externally in addition to the following criteria:
// Sufficient time has lapsed sice the last fusion
bool beta_fusion_time_triggered = isTimedOut(_time_last_beta_fuse, _params.beta_avg_ft_us);
const bool beta_fusion_time_triggered = isTimedOut(_time_last_beta_fuse, _params.beta_avg_ft_us);
if (beta_fusion_time_triggered && _control_status.flags.fuse_beta && _control_status.flags.in_air) {
// If starting wind state estimation, reset the wind states and covariances before fusing any data