From c0754cf32443393ed36f552434637f9ccb66374f Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 19 Oct 2021 15:09:59 +0200 Subject: [PATCH] AirspeedValidator: pass vI as reference Signed-off-by: Silvan Fuhrer --- src/modules/airspeed_selector/AirspeedValidator.cpp | 6 +++--- src/modules/airspeed_selector/AirspeedValidator.hpp | 7 ++++--- 2 files changed, 7 insertions(+), 6 deletions(-) diff --git a/src/modules/airspeed_selector/AirspeedValidator.cpp b/src/modules/airspeed_selector/AirspeedValidator.cpp index aa883ee5c6..38ec733f05 100644 --- a/src/modules/airspeed_selector/AirspeedValidator.cpp +++ b/src/modules/airspeed_selector/AirspeedValidator.cpp @@ -72,7 +72,7 @@ AirspeedValidator::reset_airspeed_to_invalid(const uint64_t timestamp) void AirspeedValidator::update_wind_estimator(const uint64_t time_now_usec, float airspeed_true_raw, bool lpos_valid, - matrix::Vector3f vI, float lpos_evh, float lpos_evv, const float att_q[4]) + const matrix::Vector3f &vI, float lpos_evh, float lpos_evv, const float att_q[4]) { _wind_estimator.update(time_now_usec); @@ -111,7 +111,7 @@ AirspeedValidator::get_wind_estimator_states(uint64_t timestamp) } void -AirspeedValidator::update_CAS_scale_validated(bool lpos_valid, matrix::Vector3f vI, float airspeed_true_raw) +AirspeedValidator::update_CAS_scale_validated(bool lpos_valid, const matrix::Vector3f &vI, float airspeed_true_raw) { if (!_in_fixed_wing_flight || !lpos_valid) { return; @@ -211,7 +211,7 @@ AirspeedValidator::check_airspeed_data_stuck(uint64_t time_now) void AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_status_vel_test_ratio, - float estimator_status_mag_test_ratio, matrix::Vector3f vI) + float estimator_status_mag_test_ratio, const matrix::Vector3f &vI) { // Check normalised innovation levels with requirement for continuous data and use of hysteresis // to prevent false triggering. diff --git a/src/modules/airspeed_selector/AirspeedValidator.hpp b/src/modules/airspeed_selector/AirspeedValidator.hpp index 0add7fd15b..1a0a055263 100644 --- a/src/modules/airspeed_selector/AirspeedValidator.hpp +++ b/src/modules/airspeed_selector/AirspeedValidator.hpp @@ -171,14 +171,15 @@ private: void update_in_fixed_wing_flight(bool in_fixed_wing_flight) { _in_fixed_wing_flight = in_fixed_wing_flight; } - void update_wind_estimator(const uint64_t timestamp, float airspeed_true_raw, bool lpos_valid, matrix::Vector3f vI, + void update_wind_estimator(const uint64_t timestamp, float airspeed_true_raw, bool lpos_valid, + const matrix::Vector3f &vI, float lpos_evh, float lpos_evv, const float att_q[4]); - void update_CAS_scale_validated(bool lpos_valid, matrix::Vector3f vI, float airspeed_true_raw); + void update_CAS_scale_validated(bool lpos_valid, const matrix::Vector3f &vI, float airspeed_true_raw); void update_CAS_scale_applied(); void update_CAS_TAS(float air_pressure_pa, float air_temperature_celsius); void check_airspeed_data_stuck(uint64_t timestamp); void check_airspeed_innovation(uint64_t timestamp, float estimator_status_vel_test_ratio, - float estimator_status_mag_test_ratio, matrix::Vector3f vI); + float estimator_status_mag_test_ratio, const matrix::Vector3f &vI); void check_load_factor(float accel_z); void update_airspeed_valid_status(const uint64_t timestamp); void reset();