AP_Baro: fix some style and const correctness

libraries/AP_Baro/AP_Baro_SITL.cpp

@@ -23,14 +23,14 @@ AP_Baro_SITL::AP_Baro_SITL(AP_Baro &baro) :
 // adjust for board temperature
 void AP_Baro_SITL::temperature_adjustment(float &p, float &T)
 {
-    float tsec = AP_HAL::millis() * 0.001;
+    const float tsec = AP_HAL::millis() * 0.001f;
     const float T0 = sitl->temp_start;
     const float T1 = sitl->temp_flight;
     const float tconst = sitl->temp_tconst;
     const float baro_factor = sitl->temp_baro_factor;
-    const float Tzero = 30; // start baro adjustment at 30C
-    T = T1 - (T1 - T0)*expf(-tsec / tconst);
-    if (baro_factor > 0) {
+    const float Tzero = 30.0f;  // start baro adjustment at 30C
+    T = T1 - (T1 - T0) * expf(-tsec / tconst);
+    if (is_positive(baro_factor)) {
         // this produces a pressure change with temperature that
         // closely matches what has been observed with a ICM-20789
         // barometer. A typical factor is 1.2.
@@ -42,7 +42,7 @@ void AP_Baro_SITL::_timer()
 {
 
     // 100Hz
-    uint32_t now = AP_HAL::millis();
+    const uint32_t now = AP_HAL::millis();
     if ((now - _last_sample_time) < 10) {
         return;
     }
@@ -55,7 +55,7 @@ void AP_Baro_SITL::_timer()
         return;
     }
 
-    sim_alt += sitl->baro_drift * now / 1000;
+    sim_alt += sitl->baro_drift * now / 1000.0f;
     sim_alt += sitl->baro_noise * rand_float();
 
     // add baro glitch
@@ -77,7 +77,7 @@ void AP_Baro_SITL::_timer()
     }
 
     // return delayed measurement
-    uint32_t delayed_time = now - sitl->baro_delay; // get time corresponding to delay
+    const uint32_t delayed_time = now - sitl->baro_delay;  // get time corresponding to delay
 
     // find data corresponding to delayed time in buffer
     for (uint8_t i=0; i<=buffer_length-1; i++) {
@@ -95,9 +95,9 @@ void AP_Baro_SITL::_timer()
     }
 
     float sigma, delta, theta;
-    const float p0 = 101325;
+    const float p0 = 101325.0f;
 
-    AP_Baro::SimpleAtmosphere(sim_alt*0.001f, sigma, delta, theta);
+    AP_Baro::SimpleAtmosphere(sim_alt * 0.001f, sigma, delta, theta);
     float p = p0 * delta;
     float T = 303.16f * theta - 273.16f;  // Assume 30 degrees at sea level - converted to degrees Kelvin
 

libraries/AP_Baro/AP_Baro_SITL.h

@@ -28,7 +28,7 @@ private:
     uint8_t store_index;
     uint32_t last_store_time;
     static const uint8_t buffer_length = 50;
-    VectorN<readings_baro,buffer_length> buffer;
+    VectorN<readings_baro, buffer_length> buffer;
 
     // adjust for simulated board temperature
     void temperature_adjustment(float &p, float &T);