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AP_NavEKF2: CorrectExtNavForSensorOffset made const

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Randy Mackay 2020-04-16 15:32:32 +09:00 committed by Andrew Tridgell
parent 7470bc9994
commit 35dcb0d752
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
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@ -278,7 +278,7 @@ void NavEKF2_core::CorrectGPSForAntennaOffset(gps_elements &gps_data) const
}
// correct external navigation earth-frame position using sensor body-frame offset
void NavEKF2_core::CorrectExtNavForSensorOffset(Vector3f &ext_position)
void NavEKF2_core::CorrectExtNavForSensorOffset(Vector3f &ext_position) const
{
#if HAL_VISUALODOM_ENABLED
AP_VisualOdom *visual_odom = AP::visualodom();

2
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -780,7 +780,7 @@ private:
void CorrectGPSForAntennaOffset(gps_elements &gps_data) const;
// correct external navigation earth-frame position using sensor body-frame offset
void CorrectExtNavForSensorOffset(Vector3f &ext_position);
void CorrectExtNavForSensorOffset(Vector3f &ext_position) const;
// Length of FIFO buffers used for non-IMU sensor data.
// Must be larger than the time period defined by IMU_BUFFER_LENGTH