Add const modifier

EKF/airspeed_fusion.cpp

@@ -173,7 +173,7 @@ Vector2f Ekf::getWindVelocityVariance() const
 
 void Ekf::get_true_airspeed(float *tas)
 {
-	float tempvar = sqrtf(sq(_state.vel(0) - _state.wind_vel(0)) + sq(_state.vel(1) - _state.wind_vel(1)) + sq(_state.vel(2)));
+	const float tempvar = sqrtf(sq(_state.vel(0) - _state.wind_vel(0)) + sq(_state.vel(1) - _state.wind_vel(1)) + sq(_state.vel(2)));
 	memcpy(tas, &tempvar, sizeof(float));
 }
 

EKF/covariance.cpp

@@ -1103,9 +1103,9 @@ void Ekf::resetWindCovariance()
 		Eulerf euler321(_state.quat_nominal);
 		const float euler_yaw = euler321(2);
 		const float R_TAS = sq(math::constrain(_params.eas_noise, 0.5f, 5.0f) * math::constrain(_airspeed_sample_delayed.eas2tas, 0.9f, 10.0f));
-		const float initial_sideslip_uncertainty = math::radians(15.0f);
+		constexpr float initial_sideslip_uncertainty = math::radians(15.0f);
 		const float initial_wind_var_body_y = sq(_airspeed_sample_delayed.true_airspeed * sinf(initial_sideslip_uncertainty));
-		const float R_yaw = sq(math::radians(10.0f));
+		constexpr float R_yaw = sq(math::radians(10.0f));
 
 		// rotate wind velocity into earth frame aligned with vehicle yaw
 		const float Wx = _state.wind_vel(0) * cosf(euler_yaw) + _state.wind_vel(1) * sinf(euler_yaw);

EKF/mag_fusion.cpp

@@ -812,8 +812,8 @@ void Ekf::fuseHeading()
 		} else if (_control_status.flags.ev_yaw) {
 			// calculate the yaw angle for a 312 sequence
 			// Values from yaw_input_312.c file produced by https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/quat2yaw312.m
-			float Tbn_0_1_neg = 2.0f*(_ev_sample_delayed.quat(0)*_ev_sample_delayed.quat(3)-_ev_sample_delayed.quat(1)*_ev_sample_delayed.quat(2));
-			float Tbn_1_1 = sq(_ev_sample_delayed.quat(0))-sq(_ev_sample_delayed.quat(1))+sq(_ev_sample_delayed.quat(2))-sq(_ev_sample_delayed.quat(3));
+			const float Tbn_0_1_neg = 2.0f*(_ev_sample_delayed.quat(0)*_ev_sample_delayed.quat(3)-_ev_sample_delayed.quat(1)*_ev_sample_delayed.quat(2));
+			const float Tbn_1_1 = sq(_ev_sample_delayed.quat(0))-sq(_ev_sample_delayed.quat(1))+sq(_ev_sample_delayed.quat(2))-sq(_ev_sample_delayed.quat(3));
 			measured_hdg = atan2f(Tbn_0_1_neg,Tbn_1_1);
 
 		} else {