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AP_Terrain: Add const to locals #28734

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Nov 26, 2024
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AP_Terrain: Add const to locals #28734

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18 changes: 8 additions & 10 deletions libraries/AP_Terrain/AP_Terrain.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -154,19 +154,17 @@ bool AP_Terrain::height_amsl(const Location &loc, float &height, bool corrected)
}

// hXY are the heights of the 4 surrounding grid points
int16_t h00, h01, h10, h11;

h00 = grid.height[info.idx_x+0][info.idx_y+0];
h01 = grid.height[info.idx_x+0][info.idx_y+1];
h10 = grid.height[info.idx_x+1][info.idx_y+0];
h11 = grid.height[info.idx_x+1][info.idx_y+1];
const auto h00 = grid.height[info.idx_x+0][info.idx_y+0];
const auto h01 = grid.height[info.idx_x+0][info.idx_y+1];
const auto h10 = grid.height[info.idx_x+1][info.idx_y+0];
const auto h11 = grid.height[info.idx_x+1][info.idx_y+1];

// do a simple dual linear interpolation. We could do something
// fancier, but it probably isn't worth it as long as the
// grid_spacing is kept small enough
float avg1 = (1.0f-info.frac_x) * h00 + info.frac_x * h10;
float avg2 = (1.0f-info.frac_x) * h01 + info.frac_x * h11;
float avg = (1.0f-info.frac_y) * avg1 + info.frac_y * avg2;
const float avg1 = (1.0f-info.frac_x) * h00 + info.frac_x * h10;
const float avg2 = (1.0f-info.frac_x) * h01 + info.frac_x * h11;
const float avg = (1.0f-info.frac_y) * avg1 + info.frac_y * avg2;

height = avg;

Expand Down Expand Up @@ -567,7 +565,7 @@ void AP_Terrain::update_reference_offset(void)
if (!reference_loc.get_alt_cm(Location::AltFrame::ABSOLUTE, alt_cm)) {
return;
}
float adjustment = alt_cm*0.01 - height;
const float adjustment = alt_cm*0.01 - height;
reference_offset = constrain_float(adjustment, -offset_max, offset_max);
if (fabsf(adjustment) > offset_max.get()+0.5) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Terrain: clamping offset %.0f to %.0f",
Expand Down
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