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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/mag_fusion.cpp
+4 -4
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@@ -414,8 +414,8 @@ void Ekf::fuseYaw321(float yaw, float yaw_variance, bool zero_innovation)
const float q2 = _state.quat_nominal(2);
const float q3 = _state.quat_nominal(3);
float R_YAW = fmaxf(yaw_variance, 1.0e-4f);
float measurement = wrap_pi(yaw);
const float R_YAW = fmaxf(yaw_variance, 1.0e-4f);
const float measurement = wrap_pi(yaw);
float H_YAW[4];
// calculate observation jacobian when we are observing the first rotation in a 321 sequence
@@ -509,8 +509,8 @@ void Ekf::fuseYaw312(float yaw, float yaw_variance, bool zero_innovation)
const float q2 = _state.quat_nominal(2);
const float q3 = _state.quat_nominal(3);
float R_YAW = fmaxf(yaw_variance, 1.0e-4f);
float measurement = wrap_pi(yaw);
const float R_YAW = fmaxf(yaw_variance, 1.0e-4f);
const float measurement = wrap_pi(yaw);
float H_YAW[4];
// calculate observation jacobian when we are observing a rotation in a 312 sequence