From 340429fbbb3028f633ed3fd6c8e3dfa477cba473 Mon Sep 17 00:00:00 2001 From: Pierre Kancir Date: Wed, 19 Dec 2018 17:44:02 +0100 Subject: [PATCH] AP_NavEKF3: pass by const reference when needed --- libraries/AP_NavEKF3/AP_NavEKF3_core.cpp | 4 ++-- libraries/AP_NavEKF3/AP_NavEKF3_core.h | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp index e79a7ff8a6..ef563b732a 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp @@ -1393,7 +1393,7 @@ void NavEKF3_core::StoreQuatReset() } // 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; // write current measurement to entire table @@ -1665,7 +1665,7 @@ Vector3f NavEKF3_core::calcRotVecVariances() } // 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 float q0 = stateStruct.quat[0]; diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h index 56c04d745f..a9e420c035 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h @@ -561,7 +561,7 @@ private: void StoreQuatReset(void); // Rotate the stored output quaternion history through a quaternion rotation - void StoreQuatRotate(Quaternion deltaQuat); + void StoreQuatRotate(const Quaternion &deltaQuat); // store altimeter data void StoreBaro(); @@ -790,7 +790,7 @@ private: Vector3f calcRotVecVariances(void); // initialise the quaternion covariances using rotation vector variances - void initialiseQuatCovariances(Vector3f &rotVarVec); + void initialiseQuatCovariances(const Vector3f &rotVarVec); // update timing statistics structure void updateTimingStatistics(void);