Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_AHRS: fix writeOptFlowMeas signature 

const some of the vectors, stop taking references to scalars that aren't
being changed
This commit is contained in:
Peter Barker 2018-09-02 21:24:14 +10:00 committed by Andrew Tridgell
parent 7db5daadad
commit 306a40bb77
2 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
View File

@ -1181,7 +1181,7 @@ bool AP_AHRS_NavEKF::get_filter_status(nav_filter_status &status) const
}
// write optical flow data to EKF
void AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, const Vector3f &posOffset)
void AP_AHRS_NavEKF::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset)
{
EKF2.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset);
EKF3.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset);

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
View File

@ -157,7 +157,7 @@ public:
bool get_vert_pos_rate(float &velocity) const;
// write optical flow measurements to EKF
void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, const Vector3f &posOffset);
void writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset);
// write body odometry measurements to the EKF
void writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, const Vector3f &posOffset);