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AP_Arming: const correctness

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Pierre Kancir 2018-12-20 09:23:39 +01:00 committed by Randy Mackay
parent 2c895599e1
commit 1bd9b61bf6
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_Arming/AP_Arming.cpp
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@ -256,7 +256,7 @@ bool AP_Arming::ins_gyros_consistent(const AP_InertialSensor &ins)
} }
// get next gyro vector // get next gyro vector
const Vector3f &gyro_vec = ins.get_gyro(i); const Vector3f &gyro_vec = ins.get_gyro(i);
Vector3f vec_diff = gyro_vec - prime_gyro_vec; const Vector3f vec_diff = gyro_vec - prime_gyro_vec;
// allow for up to 5 degrees/s difference. Pass if it has // allow for up to 5 degrees/s difference. Pass if it has
// been OK in last 10 seconds // been OK in last 10 seconds
if (vec_diff.length() <= radians(5)) { if (vec_diff.length() <= radians(5)) {
@ -351,14 +351,14 @@ bool AP_Arming::compass_checks(bool report)
} }
// check for unreasonable compass offsets // check for unreasonable compass offsets
Vector3f offsets = _compass.get_offsets(); const Vector3f offsets = _compass.get_offsets();
if (offsets.length() > _compass.get_offsets_max()) { if (offsets.length() > _compass.get_offsets_max()) {
check_failed(ARMING_CHECK_COMPASS, report, "Compass offsets too high"); check_failed(ARMING_CHECK_COMPASS, report, "Compass offsets too high");
return false; return false;
} }
// check for unreasonable mag field length // check for unreasonable mag field length
float mag_field = _compass.get_field().length(); const float mag_field = _compass.get_field().length();
if (mag_field > AP_ARMING_COMPASS_MAGFIELD_MAX || mag_field < AP_ARMING_COMPASS_MAGFIELD_MIN) { if (mag_field > AP_ARMING_COMPASS_MAGFIELD_MAX || mag_field < AP_ARMING_COMPASS_MAGFIELD_MIN) {
check_failed(ARMING_CHECK_COMPASS, report, "Check mag field"); check_failed(ARMING_CHECK_COMPASS, report, "Check mag field");
return false; return false;
@ -405,7 +405,7 @@ bool AP_Arming::gps_checks(bool report)
} }
// check AHRS and GPS are within 10m of each other // check AHRS and GPS are within 10m of each other
Location gps_loc = gps.location(); const Location gps_loc = gps.location();
Location ahrs_loc; Location ahrs_loc;
if (AP::ahrs().get_position(ahrs_loc)) { if (AP::ahrs().get_position(ahrs_loc)) {
const float distance = location_diff(gps_loc, ahrs_loc).length(); const float distance = location_diff(gps_loc, ahrs_loc).length();
@ -417,7 +417,7 @@ bool AP_Arming::gps_checks(bool report)
} }
if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS_CONFIG)) { if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS_CONFIG)) {
uint8_t first_unconfigured = gps.first_unconfigured_gps(); const uint8_t first_unconfigured = gps.first_unconfigured_gps();
if (first_unconfigured != AP_GPS::GPS_ALL_CONFIGURED) { if (first_unconfigured != AP_GPS::GPS_ALL_CONFIGURED) {
check_failed(ARMING_CHECK_GPS_CONFIG, check_failed(ARMING_CHECK_GPS_CONFIG,
report, report,