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AP_NavEKF3: pass by const reference when needed

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This commit is contained in:
Pierre Kancir 2018-12-19 17:44:02 +01:00 committed by Randy Mackay
parent 49d20364cb
commit 340429fbbb
2 changed files with 4 additions and 4 deletions
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4
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -1393,7 +1393,7 @@ void NavEKF3_core::StoreQuatReset()
} }
// Rotate the stored output quaternion history through a quaternion rotation // Rotate the stored output quaternion history through a quaternion rotation
void NavEKF3_core::StoreQuatRotate(Quaternion deltaQuat) void NavEKF3_core::StoreQuatRotate(const Quaternion &deltaQuat)
{ {
outputDataNew.quat = outputDataNew.quat*deltaQuat; outputDataNew.quat = outputDataNew.quat*deltaQuat;
// write current measurement to entire table // write current measurement to entire table
@ -1665,7 +1665,7 @@ Vector3f NavEKF3_core::calcRotVecVariances()
} }
// initialise the quaternion covariances using rotation vector variances // initialise the quaternion covariances using rotation vector variances
void NavEKF3_core::initialiseQuatCovariances(Vector3f &rotVarVec) void NavEKF3_core::initialiseQuatCovariances(const Vector3f &rotVarVec)
{ {
// calculate an equivalent rotation vector from the quaternion // calculate an equivalent rotation vector from the quaternion
float q0 = stateStruct.quat[0]; float q0 = stateStruct.quat[0];

4
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -561,7 +561,7 @@ private:
void StoreQuatReset(void); void StoreQuatReset(void);
// Rotate the stored output quaternion history through a quaternion rotation // Rotate the stored output quaternion history through a quaternion rotation
void StoreQuatRotate(Quaternion deltaQuat); void StoreQuatRotate(const Quaternion &deltaQuat);
// store altimeter data // store altimeter data
void StoreBaro(); void StoreBaro();
@ -790,7 +790,7 @@ private:
Vector3f calcRotVecVariances(void); Vector3f calcRotVecVariances(void);
// initialise the quaternion covariances using rotation vector variances // initialise the quaternion covariances using rotation vector variances
void initialiseQuatCovariances(Vector3f &rotVarVec); void initialiseQuatCovariances(const Vector3f &rotVarVec);
// update timing statistics structure // update timing statistics structure
void updateTimingStatistics(void); void updateTimingStatistics(void);