From 35dcb0d75201b1be5d061c66a42403bd44f429bb Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 16 Apr 2020 15:32:32 +0900 Subject: [PATCH] AP_NavEKF2: CorrectExtNavForSensorOffset made const --- libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp | 2 +- libraries/AP_NavEKF2/AP_NavEKF2_core.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp index bb36841c45..5d3de168f2 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp @@ -278,7 +278,7 @@ void NavEKF2_core::CorrectGPSForAntennaOffset(gps_elements &gps_data) const } // correct external navigation earth-frame position using sensor body-frame offset -void NavEKF2_core::CorrectExtNavForSensorOffset(Vector3f &ext_position) +void NavEKF2_core::CorrectExtNavForSensorOffset(Vector3f &ext_position) const { #if HAL_VISUALODOM_ENABLED AP_VisualOdom *visual_odom = AP::visualodom(); diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h index a2a3de7649..bf60f2065e 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h +++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h @@ -780,7 +780,7 @@ private: void CorrectGPSForAntennaOffset(gps_elements &gps_data) const; // correct external navigation earth-frame position using sensor body-frame offset - void CorrectExtNavForSensorOffset(Vector3f &ext_position); + void CorrectExtNavForSensorOffset(Vector3f &ext_position) const; // Length of FIFO buffers used for non-IMU sensor data. // Must be larger than the time period defined by IMU_BUFFER_LENGTH