AP_NavEKF2: CorrectExtNavForSensorOffset made const

5 years ago · 35dcb0d752
2 changed files with 2 additions and 2 deletions
--- 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
				@@ -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();
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
@ -780,7 +780,7 @@ private:
				@@ -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