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AP_NavEKF3: fix writeOptFlowMeas signature

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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 21:25:38 +10:00 committed by Andrew Tridgell
parent d8aa8d2b71
commit be9235a581
4 changed files with 4 additions and 4 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -1126,7 +1126,7 @@ bool NavEKF3::use_compass(void) const
// The sign convention is that a RH physical rotation of the sensor about an axis produces both a positive flow and gyro rate // The sign convention is that a RH physical rotation of the sensor about an axis produces both a positive flow and gyro rate
// msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor. // msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor.
// posOffset is the XYZ flow sensor position in the body frame in m // posOffset is the XYZ flow sensor position in the body frame in m
void NavEKF3::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, const Vector3f &posOffset) void NavEKF3::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset)
{ {
if (core) { if (core) {
for (uint8_t i=0; i<num_cores; i++) { for (uint8_t i=0; i<num_cores; i++) {

2
libraries/AP_NavEKF3/AP_NavEKF3.h
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@ -206,7 +206,7 @@ public:
// The sign convention is that a RH physical rotation of the sensor about an axis produces both a positive flow and gyro rate // The sign convention is that a RH physical rotation of the sensor about an axis produces both a positive flow and gyro rate
// msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor. // msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor.
// posOffset is the XYZ flow sensor position in the body frame in m // posOffset is the XYZ flow sensor position in the body frame in m
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 frame linear and angular displacement measurements from a visual odometry sensor * Write body frame linear and angular displacement measurements from a visual odometry sensor

2
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -161,7 +161,7 @@ void NavEKF3_core::writeWheelOdom(float delAng, float delTime, uint32_t timeStam
// write the raw optical flow measurements // write the raw optical flow measurements
// this needs to be called externally. // this needs to be called externally.
void NavEKF3_core::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, const Vector3f &posOffset) void NavEKF3_core::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset)
{ {
// limit update rate to maximum allowed by sensor buffers // limit update rate to maximum allowed by sensor buffers
if ((imuSampleTime_ms - flowMeaTime_ms) < frontend->sensorIntervalMin_ms) { if ((imuSampleTime_ms - flowMeaTime_ms) < frontend->sensorIntervalMin_ms) {

2
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -202,7 +202,7 @@ public:
// The sign convention is that a RH physical rotation of the sensor about an axis produces both a positive flow and gyro rate // The sign convention is that a RH physical rotation of the sensor about an axis produces both a positive flow and gyro rate
// msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor. // msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor.
// posOffset is the XYZ flow sensor position in the body frame in m // posOffset is the XYZ flow sensor position in the body frame in m
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);
// return data for debugging optical flow fusion // return data for debugging optical flow fusion
void getFlowDebug(float &varFlow, float &gndOffset, float &flowInnovX, float &flowInnovY, float &auxInnov, float &HAGL, float &rngInnov, float &range, float &gndOffsetErr) const; void getFlowDebug(float &varFlow, float &gndOffset, float &flowInnovX, float &flowInnovY, float &auxInnov, float &HAGL, float &rngInnov, float &range, float &gndOffsetErr) const;