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Code Issues Releases Activity

OP-1296 - some explicit const declarations in stateestimation

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This commit is contained in:
Corvus Corax 2014-04-10 20:13:23 +02:00
parent cb16cf04e1
commit 661bea2372
1 changed files with 7 additions and 7 deletions
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14
flight/modules/StateEstimation/stateestimation.c
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@ -139,8 +139,8 @@ static DelayedCallbackInfo *stateEstimationCallback;
static volatile RevoSettingsData revoSettings;
static volatile sensorUpdates updatedSensors;
static volatile int32_t fusionAlgorithm = -1;
static filterPipeline *filterChain = NULL;
static volatile int32_t fusionAlgorithm = -1;
static const filterPipeline *filterChain = NULL;
// different filters available to state estimation
static stateFilter magFilter;
@ -156,7 +156,7 @@ static stateFilter ekf13iFilter;
static stateFilter ekf13Filter;
// preconfigured filter chains selectable via revoSettings.FusionAlgorithm
static filterPipeline *cfQueue = &(filterPipeline) {
static const filterPipeline *cfQueue = &(filterPipeline) {
.filter = &magFilter,
.next = &(filterPipeline) {
.filter = &airFilter,
@ -336,7 +336,7 @@ static void StateEstimationCb(void)
static int8_t alarm = 0;
static int8_t lastAlarm = -1;
static uint16_t alarmcounter = 0;
static filterPipeline *current;
static const filterPipeline *current;
static stateEstimation states;
static uint32_t last_time;
static uint16_t bootDelay = 64;
@ -388,7 +388,7 @@ static void StateEstimationCb(void)
newFilterChain = NULL;
}
// initialize filters in chain
current = (filterPipeline *)newFilterChain;
current = newFilterChain;
bool error = 0;
while (current != NULL) {
int32_t result = current->filter->init((stateFilter *)current->filter);
@ -403,7 +403,7 @@ static void StateEstimationCb(void)
return;
} else {
// set new fusion algortithm
filterChain = (filterPipeline *)newFilterChain;
filterChain = newFilterChain;
fusionAlgorithm = revoSettings.FusionAlgorithm;
}
}
@ -426,7 +426,7 @@ static void StateEstimationCb(void)
// at this point sensor state is stored in "states" with some rudimentary filtering applied
// apply all filters in the current filter chain
current = (filterPipeline *)filterChain;
current = filterChain;
// we are not done, re-dispatch self execution
runState = RUNSTATE_FILTER;