AP_Proximity: remove unnecessary const from database_push

also shorten current_vehicle_bearing argument to just current_heading

libraries/AP_Proximity/AP_Proximity_Backend.cpp

@@ -335,7 +335,7 @@ bool AP_Proximity_Backend::get_next_ignore_start_or_end(uint8_t start_or_end, in
 }
 
 // returns true if database is ready to be pushed to and all cached data is ready
-bool AP_Proximity_Backend::database_prepare_for_push(Location &current_loc, float &current_vehicle_bearing)
+bool AP_Proximity_Backend::database_prepare_for_push(Location &current_loc, float &current_heading)
 {
     AP_OADatabase *oaDb = AP::oadatabase();
     if (oaDb == nullptr || !oaDb->healthy()) {
@@ -346,22 +346,22 @@ bool AP_Proximity_Backend::database_prepare_for_push(Location &current_loc, floa
         return false;
     }
 
-    current_vehicle_bearing = AP::ahrs().yaw_sensor * 0.01f;
+    current_heading = AP::ahrs().yaw_sensor * 0.01f;
     return true;
 }
 
 // update Object Avoidance database with Earth-frame point
-void AP_Proximity_Backend::database_push(const float angle, const float distance)
+void AP_Proximity_Backend::database_push(float angle, float distance)
 {
     Location current_loc;
-    float current_vehicle_bearing;
-    if (database_prepare_for_push(current_loc, current_vehicle_bearing) == true) {
-        database_push(angle, distance, AP_HAL::millis(), current_loc, current_vehicle_bearing);
+    float current_heading;
+    if (database_prepare_for_push(current_loc, current_heading)) {
+        database_push(angle, distance, AP_HAL::millis(), current_loc, current_heading);
     }
 }
 
 // update Object Avoidance database with Earth-frame point
-void AP_Proximity_Backend::database_push(const float angle, const float distance, const uint32_t timestamp_ms, const Location &current_loc, const float current_vehicle_bearing)
+void AP_Proximity_Backend::database_push(float angle, float distance, uint32_t timestamp_ms, const Location &current_loc, float current_heading)
 {
     AP_OADatabase *oaDb = AP::oadatabase();
     if (oaDb == nullptr || !oaDb->healthy()) {
@@ -369,6 +369,6 @@ void AP_Proximity_Backend::database_push(const float angle, const float distance
     }
 
     Location temp_loc = current_loc;
-    temp_loc.offset_bearing(wrap_180(current_vehicle_bearing + angle), distance);
+    temp_loc.offset_bearing(wrap_180(current_heading + angle), distance);
     oaDb->queue_push(temp_loc, timestamp_ms, distance, angle);
 }

libraries/AP_Proximity/AP_Proximity_Backend.h

@@ -87,10 +87,10 @@ protected:
     bool get_ignore_area(uint8_t index, uint16_t &angle_deg, uint8_t &width_deg) const;
     bool get_next_ignore_start_or_end(uint8_t start_or_end, int16_t start_angle, int16_t &ignore_start) const;
 
-    // database helpers
-    bool database_prepare_for_push(Location &current_loc, float &current_vehicle_bearing);
-    void database_push(const float angle, const float distance);
-    void database_push(const float angle, const float distance, const uint32_t timestamp_ms, const Location &current_loc, const float current_vehicle_bearing);
+    // database helpers.  all angles are in degrees
+    bool database_prepare_for_push(Location &current_loc, float &current_heading);
+    void database_push(float angle, float distance);
+    void database_push(float angle, float distance, uint32_t timestamp_ms, const Location &current_loc, float current_heading);
 
     AP_Proximity &frontend;
     AP_Proximity::Proximity_State &state;   // reference to this instances state

libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp

@@ -391,8 +391,8 @@ void AP_Proximity_LightWareSF40C::process_message()
 
         // prepare to push to object database
         Location current_loc;
-        float current_vehicle_bearing;
-        const bool database_ready = database_prepare_for_push(current_loc, current_vehicle_bearing);
+        float current_heading;
+        const bool database_ready = database_prepare_for_push(current_loc, current_heading);
 
         // process each point
         const float angle_inc_deg = (1.0f / point_total) * 360.0f;
@@ -426,7 +426,7 @@ void AP_Proximity_LightWareSF40C::process_message()
                     }
                     // send point to object avoidance database
                     if (database_ready) {
-                        database_push(angle_deg, dist_m, _last_distance_received_ms, current_loc, current_vehicle_bearing);
+                        database_push(angle_deg, dist_m, _last_distance_received_ms, current_loc, current_heading);
                     }
                 }
             }

libraries/AP_Proximity/AP_Proximity_MAV.cpp

@@ -105,8 +105,8 @@ void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg)
         }
 
         Location current_loc;
-        float current_vehicle_bearing;
-        const bool database_ready = database_prepare_for_push(current_loc, current_vehicle_bearing);
+        float current_heading;
+        const bool database_ready = database_prepare_for_push(current_loc, current_heading);
 
         // initialise updated array and proximity sector angles (to closest object) and distances
         bool sector_updated[_num_sectors];
@@ -146,7 +146,7 @@ void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg)
 
             // update Object Avoidance database with Earth-frame point
             if (database_ready) {
-                database_push(mid_angle, packet_distance_m, _last_update_ms, current_loc, current_vehicle_bearing);
+                database_push(mid_angle, packet_distance_m, _last_update_ms, current_loc, current_heading);
             }
         }