From c1faea8d32eca628c45d86bb6197b65c48441c0e Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 8 Oct 2019 16:07:29 +0200 Subject: [PATCH] Commander: add const qualifiers for clarity --- src/modules/commander/Commander.cpp | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 12d994ee1a..c40cb9d39a 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -213,7 +213,7 @@ static int power_button_state_notification_cb(board_power_button_state_notificat // on the main thread of commander. power_button_state_s button_state{}; button_state.timestamp = hrt_absolute_time(); - int ret = PWR_BUTTON_RESPONSE_SHUT_DOWN_PENDING; + const int ret = PWR_BUTTON_RESPONSE_SHUT_DOWN_PENDING; switch (request) { case PWR_BUTTON_IDEL: @@ -430,10 +430,10 @@ int commander_main(int argc, char *argv[]) if (!strcmp(argv[1], "transition")) { - bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION, - (float)(status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ? - vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW : - vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC)); + const bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION, + (float)(status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ? + vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW : + vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC)); return (ret ? 0 : 1); } @@ -2639,8 +2639,7 @@ Commander::set_main_state(const vehicle_status_s &status_local, bool *changed) transition_result_t Commander::set_main_state_override_on(const vehicle_status_s &status_local, bool *changed) { - transition_result_t res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, status_flags, - &internal_state); + const transition_result_t res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, status_flags, &internal_state); *changed = (res == TRANSITION_CHANGED); return res; @@ -3703,7 +3702,7 @@ bool Commander::preflight_check(bool report) { const bool checkGNSS = (arm_requirements & ARM_REQ_GPS_BIT); - bool success = Preflight::preflightCheck(&mavlink_log_pub, status, status_flags, checkGNSS, report, false, + const bool success = Preflight::preflightCheck(&mavlink_log_pub, status, status_flags, checkGNSS, report, false, hrt_elapsed_time(&commander_boot_timestamp)); if (success) {