fixed pr check fails

PX4 · Apr 18, 2024 · 2eda407 · 2eda407
1 parent 1b81db8
commit 2eda407
Show file tree

Hide file tree

Showing 4 changed files with 20 additions and 20 deletions.
diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
@@ -55,17 +55,17 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
 	px4_add_romfs_files(
 		# [4000, 4999] Quadrotor x
 		4001_quad_x
-		# 4014_s500
-		# 4015_holybro_s500
-		# 4016_holybro_px4vision
-		# 4017_nxp_hovergames
-		# 4019_x500_v2
-		# 4020_holybro_px4vision_v1_5
-		# 4041_beta75x
-		# 4050_generic_250
-		# 4052_holybro_qav250
-		# 4053_holybro_kopis2
-		# 4061_atl_mantis_edu
+		4014_s500
+		4015_holybro_s500
+		4016_holybro_px4vision
+		4017_nxp_hovergames
+		4019_x500_v2
+		4020_holybro_px4vision_v1_5
+		4041_beta75x
+		4050_generic_250
+		4052_holybro_qav250
+		4053_holybro_kopis2
+		4061_atl_mantis_edu
 		4071_ifo
 		4073_ifo-s
 		4500_clover4

diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_defaults
@@ -1,4 +1,3 @@
-
 #!/bin/sh
 # Ackermann rover parameters.
 

diff --git a/src/modules/ackermann_drive/AckermannDriveGuidance/AckermannDriveGuidance.cpp b/src/modules/ackermann_drive/AckermannDriveGuidance/AckermannDriveGuidance.cpp
@@ -194,9 +194,9 @@ void AckermannDriveGuidance::purePursuit()
 	_ackermann_drive_setpoint_pub.publish(_ackermann_drive_setpoint);
 }
 
-float AckermannDriveGuidance::calcDesiredHeading(Vector2f curr_wp_local, Vector2f prev_wp_local,
-		Vector2f curr_pos_local,
-		float lookahead_distance)
+float AckermannDriveGuidance::calcDesiredHeading(Vector2f const &curr_wp_local, Vector2f const &prev_wp_local,
+		Vector2f const &curr_pos_local,
+		float const &lookahead_distance)
 {
 	// Setup variables
 	float line_segment_slope = (curr_wp_local(1) - prev_wp_local(1)) / (curr_wp_local(0) - prev_wp_local(0));
@@ -239,8 +239,8 @@ float AckermannDriveGuidance::calcDesiredHeading(Vector2f curr_wp_local, Vector2
 	}
 }
 
-void AckermannDriveGuidance::updateAcceptanceRadius(Vector2f curr_wp_local, Vector2f prev_wp_local,
-		Vector2f next_wp_local)
+void AckermannDriveGuidance::updateAcceptanceRadius(Vector2f const &curr_wp_local, Vector2f const &prev_wp_local,
+		Vector2f const &next_wp_local)
 {
 	// Setup variables
 	Vector2f curr_to_prev_wp_local = prev_wp_local - curr_wp_local;

diff --git a/src/modules/ackermann_drive/AckermannDriveGuidance/AckermannDriveGuidance.hpp b/src/modules/ackermann_drive/AckermannDriveGuidance/AckermannDriveGuidance.hpp
@@ -91,8 +91,8 @@ class AckermannDriveGuidance : public ModuleParams
 	 * @param curr_pos_local Current position of the vehicle in local frame.
 	 * @param lookahead_distance Radius of circle around vehicle.
 	 */
-	float calcDesiredHeading(Vector2f curr_wp_local, Vector2f prev_wp_local, Vector2f curr_pos_local,
-				 float lookahead_distance);
+	float calcDesiredHeading(Vector2f const &curr_wp_local, Vector2f const &prev_wp_local, Vector2f const &curr_pos_local,
+				 float const &lookahead_distance);
 
 	/**
 	 * @brief Publishes the  acceptance radius for current waypoint based on the angle between a line segment
@@ -102,7 +102,8 @@ class AckermannDriveGuidance : public ModuleParams
 	 * @param prev_wp_local Previous waypoint in local frame.
 	 * @param next_wp_local Next waypoint in local frame.
 	 */
-	void updateAcceptanceRadius(Vector2f curr_wp_local, Vector2f prev_wp_local, Vector2f next_wp_local);
+	void updateAcceptanceRadius(Vector2f const &curr_wp_local, Vector2f const &prev_wp_local,
+				    Vector2f const &next_wp_local);
 
 protected:
 	/**