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AP_Terrain: Add const to locals 

Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
This commit is contained in:
Ryan Friedman 2024-11-25 09:18:15 -07:00 committed by Peter Barker
parent a570794daa
commit e7e700d9f2
1 changed files with 8 additions and 10 deletions
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18
libraries/AP_Terrain/AP_Terrain.cpp
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@ -154,19 +154,17 @@ bool AP_Terrain::height_amsl(const Location &loc, float &height, bool corrected)
}
// hXY are the heights of the 4 surrounding grid points
int16_t h00, h01, h10, h11;
h00 = grid.height[info.idx_x+0][info.idx_y+0];
h01 = grid.height[info.idx_x+0][info.idx_y+1];
h10 = grid.height[info.idx_x+1][info.idx_y+0];
h11 = grid.height[info.idx_x+1][info.idx_y+1];
const auto h00 = grid.height[info.idx_x+0][info.idx_y+0];
const auto h01 = grid.height[info.idx_x+0][info.idx_y+1];
const auto h10 = grid.height[info.idx_x+1][info.idx_y+0];
const auto h11 = grid.height[info.idx_x+1][info.idx_y+1];
// do a simple dual linear interpolation. We could do something
// fancier, but it probably isn't worth it as long as the
// grid_spacing is kept small enough
float avg1 = (1.0f-info.frac_x) * h00 + info.frac_x * h10;
float avg2 = (1.0f-info.frac_x) * h01 + info.frac_x * h11;
float avg = (1.0f-info.frac_y) * avg1 + info.frac_y * avg2;
const float avg1 = (1.0f-info.frac_x) * h00 + info.frac_x * h10;
const float avg2 = (1.0f-info.frac_x) * h01 + info.frac_x * h11;
const float avg = (1.0f-info.frac_y) * avg1 + info.frac_y * avg2;
height = avg;
@ -567,7 +565,7 @@ void AP_Terrain::update_reference_offset(void)
if (!reference_loc.get_alt_cm(Location::AltFrame::ABSOLUTE, alt_cm)) {
return;
}
float adjustment = alt_cm*0.01 - height;
const float adjustment = alt_cm*0.01 - height;
reference_offset = constrain_float(adjustment, -offset_max, offset_max);
if (fabsf(adjustment) > offset_max.get()+0.5) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Terrain: clamping offset %.0f to %.0f",