Add consts

PX4 · Feb 4, 2025 · dbde455 · dbde455
1 parent 7a045c4
commit dbde455
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp b/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp
@@ -681,7 +681,7 @@ void SF45LaserSerial::_publish_obstacle_msg(hrt_abstime now)
 	_obstacle_distance_pub.publish(_obstacle_distance);
 }
 
-void SF45LaserSerial::_handle_missed_bins(uint16_t current_bin, uint16_t previous_bin, uint16_t measurement,
+void SF45LaserSerial::_handle_missed_bins(uint8_t current_bin, uint8_t previous_bin, uint16_t measurement,
 		hrt_abstime now)
 {
 	// if the sensor has its cycle delay configured for a low value like 5, it can happen that not every bin gets a measurement.

diff --git a/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.hpp b/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.hpp
@@ -108,7 +108,7 @@ class SF45LaserSerial : public px4::ScheduledWorkItem
 	int				collect();
 	bool				_crc_valid{false};
 
-	void 				_handle_missed_bins(uint16_t current_bin, uint16_t previous_bin, uint16_t measurement, hrt_abstime now);
+	void 				_handle_missed_bins(uint8_t current_bin, uint8_t previous_bin, uint16_t measurement, hrt_abstime now);
 	void 				_publish_obstacle_msg(hrt_abstime now);
 	uORB::Subscription 		_vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uint64_t			_data_timestamps[BIN_COUNT];
@@ -137,7 +137,7 @@ class SF45LaserSerial : public px4::ScheduledWorkItem
 	uint16_t			_calc_crc{0};
 	int32_t				_yaw_cfg{0};
 	int32_t				_orient_cfg{0};
-	int				_previous_bin{0};
+	uint8_t				_previous_bin{0};
 	uint16_t			_current_bin_dist{UINT16_MAX};
 	matrix::Quatf			_vehicle_attitude{};
 

diff --git a/src/lib/collision_prevention/CollisionPrevention.cpp b/src/lib/collision_prevention/CollisionPrevention.cpp
@@ -477,8 +477,8 @@ float CollisionPrevention::_getObstacleDistance(const Vector2f &direction)
 		const float sp_angle_with_offset_deg =
 			ObstacleMath::wrap_360(math::degrees(sp_angle_body_frame) - _obstacle_map_body_frame.angle_offset);
 
-		int dir_index     = ObstacleMath::get_bin_at_angle(BIN_SIZE, sp_angle_with_offset_deg);
-		obstacle_distance = _obstacle_map_body_frame.distances[dir_index] * 0.01f;
+		const int dir_index = ObstacleMath::get_bin_at_angle(BIN_SIZE, sp_angle_with_offset_deg);
+		obstacle_distance   = _obstacle_map_body_frame.distances[dir_index] * 0.01f;
 	}
 
 	return obstacle_distance;