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AP_NavEKF3: constify EKFGSF_getYaw

This commit is contained in:
Randy Mackay 2020-12-15 20:10:12 +09:00 committed by Andrew Tridgell
parent 754002525e
commit a2cca60beb
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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@ -1509,7 +1509,7 @@ bool NavEKF3_core::EKFGSF_resetMainFilterYaw()
}
// returns true on success and populates yaw (in radians) and yawVariance (rad^2)
bool NavEKF3_core::EKFGSF_getYaw(float& yaw, float& yawVariance)
bool NavEKF3_core::EKFGSF_getYaw(float &yaw, float &yawVariance) const
{
// return immediately if no yaw estimator
if (yawEstimator == nullptr) {

2
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -957,7 +957,7 @@ private:
bool EKFGSF_resetMainFilterYaw();
// returns true on success and populates yaw (in radians) and yawVariance (rad^2)
bool EKFGSF_getYaw(float &yaw, float &yawVariance);
bool EKFGSF_getYaw(float &yaw, float &yawVariance) const;
// Fusion of body frame X and Y axis drag specific forces for multi-rotor wind estimation
void FuseDragForces();