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Rover: mode calc_reduced_speed_for_turn gets some const for local variables

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Randy Mackay 2017-08-10 10:36:33 +09:00
parent 66bb3e8ee0
commit a00c7e0acb
1 changed files with 2 additions and 2 deletions
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4
APMrover2/mode.cpp
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@ -118,10 +118,10 @@ float Mode::calc_reduced_speed_for_turn_or_distance(float desired_speed)
yaw_error_ratio *= (100 - g.speed_turn_gain) * 0.01f;
// calculate absolute lateral acceleration expressed as a ratio (from 0 ~ 1) of the vehicle's maximum lateral acceleration
float lateral_accel_ratio = constrain_float(fabsf(target_lateral_accel_G / (g.turn_max_g * GRAVITY_MSS)), 0.0f, 1.0f);
const float lateral_accel_ratio = constrain_float(fabsf(target_lateral_accel_G / (g.turn_max_g * GRAVITY_MSS)), 0.0f, 1.0f);
// calculate a lateral acceleration based speed scaling
float lateral_accel_speed_scaling = 1.0f - lateral_accel_ratio * yaw_error_ratio;
const float lateral_accel_speed_scaling = 1.0f - lateral_accel_ratio * yaw_error_ratio;
// calculate a pivot steering based speed scaling (default to no reduction)
float pivot_speed_scaling = 1.0f;