From 8f08f5189a2d8804cb0ff9b6297caf4187ecfddf Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 6 Dec 2017 10:37:31 +0900 Subject: [PATCH] Rover: constify some temporary variables --- APMrover2/mode_acro.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/APMrover2/mode_acro.cpp b/APMrover2/mode_acro.cpp index 7aee9b5904..bad5a89a15 100644 --- a/APMrover2/mode_acro.cpp +++ b/APMrover2/mode_acro.cpp @@ -17,13 +17,13 @@ void ModeAcro::update() get_pilot_desired_steering_and_throttle(desired_steering, desired_throttle); // convert pilot throttle input to desired speed (up to twice the cruise speed) - float target_speed = desired_throttle * 0.01f * calc_speed_max(g.speed_cruise, g.throttle_cruise * 0.01f); + const float target_speed = desired_throttle * 0.01f * calc_speed_max(g.speed_cruise, g.throttle_cruise * 0.01f); // convert pilot steering input to desired turn rate in radians/sec - float target_turn_rate = (desired_steering / 4500.0f) * radians(g2.acro_turn_rate); + const float target_turn_rate = (desired_steering / 4500.0f) * radians(g2.acro_turn_rate); // determine if pilot is requesting pivot turn - bool is_pivot_turning = g2.motors.have_skid_steering() && is_zero(target_speed) && (!is_zero(desired_steering)); + const bool is_pivot_turning = g2.motors.have_skid_steering() && is_zero(target_speed) && (!is_zero(desired_steering)); // stop vehicle if target speed is zero and not pivot turning if (is_zero(target_speed) && !is_pivot_turning) { @@ -32,11 +32,11 @@ void ModeAcro::update() } // set reverse flag backing up - bool reversed = is_negative(target_speed); + const bool reversed = is_negative(target_speed); rover.set_reverse(reversed); // run steering turn rate controller and throttle controller - float steering_out = attitude_control.get_steering_out_rate(target_turn_rate, g2.motors.have_skid_steering(), g2.motors.limit.steer_left, g2.motors.limit.steer_right, reversed); + const float steering_out = attitude_control.get_steering_out_rate(target_turn_rate, g2.motors.have_skid_steering(), g2.motors.limit.steer_left, g2.motors.limit.steer_right, reversed); g2.motors.set_steering(steering_out * 4500.0f); calc_throttle(target_speed, false); }