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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/estimator_interface.cpp
+10 -9
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@@ -186,7 +186,7 @@ void EstimatorInterface::setGpsData(const gps_message &gps)
}
// limit data rate to prevent data being lost
bool need_gps = (_params.fusion_mode & MASK_USE_GPS) || (_params.vdist_sensor_type == VDIST_SENSOR_GPS);
const bool need_gps = (_params.fusion_mode & MASK_USE_GPS) || (_params.vdist_sensor_type == VDIST_SENSOR_GPS);
// TODO: remove checks that are not timing related
if (((gps.time_usec - _time_last_gps) > _min_obs_interval_us) && need_gps && gps.fix_type > 2) {
@@ -357,7 +357,7 @@ void EstimatorInterface::setOpticalFlowData(const flowSample& flow)
// of min arrival interval because too much data is being lost
float delta_time = flow.dt; // in seconds
const float delta_time_min = 0.5e-6f * (float)_min_obs_interval_us;
bool delta_time_good = delta_time >= delta_time_min;
const bool delta_time_good = delta_time >= delta_time_min;
bool flow_magnitude_good = true;
@@ -510,14 +510,15 @@ void EstimatorInterface::setDragData()
bool EstimatorInterface::initialise_interface(uint64_t timestamp)
{
// find the maximum time delay the buffers are required to handle
uint16_t max_time_delay_ms = math::max(_params.mag_delay_ms,
math::max(_params.range_delay_ms,
math::max(_params.gps_delay_ms,
const uint16_t max_time_delay_ms = math::max(_params.mag_delay_ms,
math::max(_params.range_delay_ms,
math::max(_params.gps_delay_ms,
math::max(_params.flow_delay_ms,
math::max(_params.ev_delay_ms,
math::max(_params.auxvel_delay_ms,
math::max(_params.min_delay_ms,
math::max(_params.airspeed_delay_ms, _params.baro_delay_ms))))))));
math::max(_params.ev_delay_ms,
math::max(_params.auxvel_delay_ms,
math::max(_params.min_delay_ms,
math::max(_params.airspeed_delay_ms,
_params.baro_delay_ms))))))));
// calculate the IMU buffer length required to accomodate the maximum delay with some allowance for jitter
_imu_buffer_length = (max_time_delay_ms / FILTER_UPDATE_PERIOD_MS) + 1;