small review fixes: changing to references, and adding const

PX4 · Jan 22, 2025 · 929d713 · 929d713
1 parent 093dddf
commit 929d713
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Showing 5 changed files with 7 additions and 7 deletions.
diff --git a/...les/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.cpp b/...les/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.cpp
@@ -135,7 +135,7 @@ bool FlightTaskManualAccelerationSlow::update()
 	if (_gimbal.checkForTelemetry(_time_stamp_current)) {
 		_gimbal.acquireGimbalControlIfNeeded();
 
-		float pitchrate_gimbal = getInputFromSanitizedAuxParameterIndex(_param_mc_slow_map_pitch.get()) * yaw_rate;
+		const float pitchrate_gimbal = getInputFromSanitizedAuxParameterIndex(_param_mc_slow_map_pitch.get()) * yaw_rate;
 		_yawspeed_setpoint = shapeYawStickToGimbalRate(_sticks.getYaw(), yaw_rate);
 
 		_gimbal.publishGimbalManagerSetAttitude(Gimbal::FLAGS_ALL_AXES_LOCKED, Quatf(NAN, NAN, NAN, NAN),

diff --git a/...s/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c b/...s/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c
@@ -169,4 +169,4 @@ PARAM_DEFINE_FLOAT(MC_SLOW_DEF_YAWR, 45.f);
  * @value 6 AUX6
  * @group Multicopter Position Slow Mode
  */
-PARAM_DEFINE_INT32(MC_SLOW_MAP_PTCH, 4);
+PARAM_DEFINE_INT32(MC_SLOW_MAP_PTCH, 0);
diff --git a/src/modules/flight_mode_manager/tasks/Utility/Gimbal.cpp b/src/modules/flight_mode_manager/tasks/Utility/Gimbal.cpp
@@ -110,8 +110,8 @@ void Gimbal::releaseGimbalControlIfNeeded()
 }
 
 void Gimbal::publishGimbalManagerSetAttitude(const uint16_t gimbal_flags,
-		const matrix::Quatf q_gimbal_setpoint,
-		const matrix::Vector3f gimbal_rates)
+		const matrix::Quatf &q_gimbal_setpoint,
+		const matrix::Vector3f &gimbal_rates)
 {
 	gimbal_manager_set_attitude_s gimbal_setpoint{};
 	gimbal_setpoint.origin_sysid = _param_mav_sys_id.get();

diff --git a/src/modules/flight_mode_manager/tasks/Utility/Gimbal.hpp b/src/modules/flight_mode_manager/tasks/Utility/Gimbal.hpp
@@ -57,8 +57,8 @@ class Gimbal : public ModuleParams
 
 	bool checkForTelemetry(const hrt_abstime now);
 	void publishGimbalManagerSetAttitude(const uint16_t gimbal_flags,
-					     const matrix::Quatf q_gimbal_setpoint,
-					     const matrix::Vector3f gimbal_rates);
+					     const matrix::Quatf &q_gimbal_setpoint,
+					     const matrix::Vector3f &gimbal_rates);
 	void acquireGimbalControlIfNeeded();
 	void releaseGimbalControlIfNeeded();
 	float getTelemetryYaw() { return _telemetry_yaw; }

diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp
@@ -70,7 +70,7 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic("flaps_setpoint", 1000);
 	add_optional_topic("flight_phase_estimation", 1000);
 	add_optional_topic("fuel_tank_status", 10);
-	add_topic("gimbal_manager_set_attitude");
+	add_topic("gimbal_manager_set_attitude", 500);
 	add_optional_topic("generator_status");
 	add_optional_topic("gps_dump");
 	add_optional_topic("gimbal_controls", 200);