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AP_AHRS: make posOffset a const reference

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This commit is contained in:
Andrew Tridgell 2016-10-27 15:45:24 +11:00
parent 703ef0ca0e
commit 772209b3f3
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -1038,7 +1038,7 @@ bool AP_AHRS_NavEKF::get_filter_status(nav_filter_status &status) const
}
// write optical flow data to EKF
void AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, Vector3f &posOffset)
void AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, const Vector3f &posOffset)
{
EKF1.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset);
EKF2.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset);

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -155,7 +155,7 @@ public:
bool get_vert_pos_rate(float &velocity);
// write optical flow measurements to EKF
void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, Vector3f &posOffset);
void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, const Vector3f &posOffset);
// inibit GPS usage
uint8_t setInhibitGPS(void);