set parameters that doesn't change with const attribute, for clearification

EKF/common.h

@@ -240,16 +240,16 @@ struct parameters {
 	float mage_p_noise{1.0e-3f};		///< process noise for earth magnetic field prediction (Gauss/sec)
 	float magb_p_noise{1.0e-4f};		///< process noise for body magnetic field prediction (Gauss/sec)
 	float wind_vel_p_noise{1.0e-1f};	///< process noise for wind velocity prediction (m/sec**2)
-	float wind_vel_p_noise_scaler{0.5f};	///< scaling of wind process noise with vertical velocity
+	const float wind_vel_p_noise_scaler{0.5f};	///< scaling of wind process noise with vertical velocity
 	float terrain_p_noise{5.0f};		///< process noise for terrain offset (m/sec)
 	float terrain_gradient{0.5f};		///< gradient of terrain used to estimate process noise due to changing position (m/m)
-	float terrain_timeout{10.f};		///< maximum time for invalid bottom distance measurements before resetting terrain estimate (s)
+	const float terrain_timeout{10.f};		///< maximum time for invalid bottom distance measurements before resetting terrain estimate (s)
 
 	// initialization errors
 	float switch_on_gyro_bias{0.1f};	///< 1-sigma gyro bias uncertainty at switch on (rad/sec)
 	float switch_on_accel_bias{0.2f};	///< 1-sigma accelerometer bias uncertainty at switch on (m/sec**2)
 	float initial_tilt_err{0.1f};		///< 1-sigma tilt error after initial alignment using gravity vector (rad)
-	float initial_wind_uncertainty{1.0f};	///< 1-sigma initial uncertainty in wind velocity (m/sec)
+	const float initial_wind_uncertainty{1.0f};	///< 1-sigma initial uncertainty in wind velocity (m/sec)
 
 	// position and velocity fusion
 	float gps_vel_noise{5.0e-1f};		///< minimum allowed observation noise for gps velocity fusion (m/sec)
@@ -272,7 +272,7 @@ struct parameters {
 	int32_t mag_fusion_type{0};		///< integer used to specify the type of magnetometer fusion used
 	float mag_acc_gate{0.5f};		///< when in auto select mode, heading fusion will be used when manoeuvre accel is lower than this (m/sec**2)
 	float mag_yaw_rate_gate{0.25f};		///< yaw rate threshold used by mode select logic (rad/sec)
-	float quat_max_variance{0.0001f};	///< zero innovation yaw measurements will not be fused when the sum of quaternion variance is less than this
+	const float quat_max_variance{0.0001f};	///< zero innovation yaw measurements will not be fused when the sum of quaternion variance is less than this
 
 	// airspeed fusion
 	float tas_innov_gate{5.0f};		///< True Airspeed innovation consistency gate size (STD)
@@ -281,7 +281,7 @@ struct parameters {
 	// synthetic sideslip fusion
 	float beta_innov_gate{5.0f};		///< synthetic sideslip innovation consistency gate size in standard deviation (STD)
 	float beta_noise{0.3f};			///< synthetic sideslip noise (rad)
-	float beta_avg_ft_us{150000.0f};	///< The average time between synthetic sideslip measurements (uSec)
+	const float beta_avg_ft_us{150000.0f};	///< The average time between synthetic sideslip measurements (uSec)
 
 	// range finder fusion
 	float range_noise{0.1f};		///< observation noise for range finder measurements (m)
@@ -289,7 +289,7 @@ struct parameters {
 	float rng_gnd_clearance{0.1f};		///< minimum valid value for range when on ground (m)
 	float rng_sens_pitch{0.0f};		///< Pitch offset of the range sensor (rad). Sensor points out along Z axis when offset is zero. Positive rotation is RH about Y axis.
 	float range_noise_scaler{0.0f};		///< scaling from range measurement to noise (m/m)
-	float vehicle_variance_scaler{0.0f};	///< gain applied to vehicle height variance used in calculation of height above ground observation variance
+	const float vehicle_variance_scaler{0.0f};	///< gain applied to vehicle height variance used in calculation of height above ground observation variance
 	float max_hagl_for_range_aid{5.0f};	///< maximum height above ground for which we allow to use the range finder as height source (if range_aid == 1)
 	float max_vel_for_range_aid{1.0f};	///< maximum ground velocity for which we allow to use the range finder as height source (if range_aid == 1)
 	int32_t range_aid{0};			///< allow switching primary height source to range finder if certain conditions are met
@@ -298,8 +298,8 @@ struct parameters {
 	float range_cos_max_tilt{0.7071f};	///< cosine of the maximum tilt angle from the vertical that permits use of range finder and flow data
 
 	// vision position fusion
-        float ev_vel_innov_gate{3.0f};		///< vision velocity fusion innovation consistency gate size (STD)
-        float ev_pos_innov_gate{5.0f};		///< vision position fusion innovation consistency gate size (STD)
+    float ev_vel_innov_gate{3.0f};		///< vision velocity fusion innovation consistency gate size (STD)
+    float ev_pos_innov_gate{5.0f};		///< vision position fusion innovation consistency gate size (STD)
 
 	// optical flow fusion
 	float flow_noise{0.15f};		///< observation noise for optical flow LOS rate measurements (rad/sec)
@@ -335,8 +335,8 @@ struct parameters {
 	float acc_bias_learn_gyr_lim{3.0f};	///< learning is disabled if the magnitude of the IMU angular rate vector is greater than this (rad/sec)
 	float acc_bias_learn_tc{0.5f};		///< time constant used to control the decaying envelope filters applied to the accel and gyro magnitudes (sec)
 
-	unsigned reset_timeout_max{7000000};	///< maximum time we allow horizontal inertial dead reckoning before attempting to reset the states to the measurement or change _control_status if the data is unavailable (uSec)
-	unsigned no_aid_timeout_max{1000000};	///< maximum lapsed time from last fusion of a measurement that constrains horizontal velocity drift before the EKF will determine that the sensor is no longer contributing to aiding (uSec)
+	const unsigned reset_timeout_max{7000000};	///< maximum time we allow horizontal inertial dead reckoning before attempting to reset the states to the measurement or change _control_status if the data is unavailable (uSec)
+	const unsigned no_aid_timeout_max{1000000};	///< maximum lapsed time from last fusion of a measurement that constrains horizontal velocity drift before the EKF will determine that the sensor is no longer contributing to aiding (uSec)
 
 	int32_t valid_timeout_max{5000000};	///< amount of time spent inertial dead reckoning before the estimator reports the state estimates as invalid (uSec)
 
@@ -355,12 +355,12 @@ struct parameters {
 	float bcoef_y{25.0f};			///< ballistic coefficient along the Y-axis (kg/m**2)
 
 	// control of accel error detection and mitigation (IMU clipping)
-	float vert_innov_test_lim{3.0f};	///< Number of standard deviations allowed before the combined vertical velocity and position test is declared as failed
-	int bad_acc_reset_delay_us{500000};	///< Continuous time that the vertical position and velocity innovation test must fail before the states are reset (uSec)
+	const float vert_innov_test_lim{3.0f};	///< Number of standard deviations allowed before the combined vertical velocity and position test is declared as failed
+	const int bad_acc_reset_delay_us{500000};	///< Continuous time that the vertical position and velocity innovation test must fail before the states are reset (uSec)
 
 	// auxiliary velocity fusion
-	float auxvel_noise{0.5f};		///< minimum observation noise, uses reported noise if greater (m/s)
-	float auxvel_gate{5.0f};		///< velocity fusion innovation consistency gate size (STD)
+	const float auxvel_noise{0.5f};		///< minimum observation noise, uses reported noise if greater (m/s)
+	const float auxvel_gate{5.0f};		///< velocity fusion innovation consistency gate size (STD)
 
 	// control of on-ground movement check
 	float is_moving_scaler{1.0f};		///< gain scaler used to adjust the threshold for the on-ground movement detection. Larger values make the test less sensitive.
@@ -371,9 +371,9 @@ struct parameters {
 
 	// Parameters used to control when yaw is reset to the EKF-GSF yaw estimator value
 	float EKFGSF_tas_default{15.0f};	///< default airspeed value assumed during fixed wing flight if no airspeed measurement available (m/s)
-	unsigned EKFGSF_reset_delay{1000000};	///< Number of uSec of bad innovations on main filter in immediate post-takeoff phase before yaw is reset to EKF-GSF value
-	float EKFGSF_yaw_err_max{0.262f}; 	///< Composite yaw 1-sigma uncertainty threshold used to check for convergence (rad)
-	unsigned EKFGSF_reset_count_limit{3};	///< Maximum number of times the yaw can be reset to the EKF-GSF yaw estimator value
+	const unsigned EKFGSF_reset_delay{1000000};	///< Number of uSec of bad innovations on main filter in immediate post-takeoff phase before yaw is reset to EKF-GSF value
+	const float EKFGSF_yaw_err_max{0.262f}; 	///< Composite yaw 1-sigma uncertainty threshold used to check for convergence (rad)
+	const unsigned EKFGSF_reset_count_limit{3};	///< Maximum number of times the yaw can be reset to the EKF-GSF yaw estimator value
 };
 
 struct stateSample {