AP_ESC_Telem: Use const when applicable

ArduPilot · May 7, 2021 · 2170e9a · 2170e9a
1 parent 8880e34
commit 2170e9a
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Showing 4 changed files with 9 additions and 9 deletions.
diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@@ -256,7 +256,7 @@ void AP_ESC_Telem::send_esc_telemetry_mavlink(uint8_t mav_chan)
 
 // record an update to the telemetry data together with timestamp
 // this should be called by backends when new telemetry values are available
-void AP_ESC_Telem::update_telem_data(uint8_t esc_index, const AP_ESC_Telem_Backend::TelemetryData& new_data, uint16_t data_mask)
+void AP_ESC_Telem::update_telem_data(const uint8_t esc_index, const AP_ESC_Telem_Backend::TelemetryData& new_data, const uint16_t data_mask)
 {
     // rpm and telemetry data are not protected by a semaphore even though updated from different threads
     // all data is per-ESC and only written from the update thread and read by the user thread
@@ -294,7 +294,7 @@ void AP_ESC_Telem::update_telem_data(uint8_t esc_index, const AP_ESC_Telem_Backe
 
 // record an update to the RPM together with timestamp, this allows the notch values to be slewed
 // this should be called by backends when new telemetry values are available
-void AP_ESC_Telem::update_rpm(uint8_t esc_index, uint16_t new_rpm, float error_rate)
+void AP_ESC_Telem::update_rpm(const uint8_t esc_index, const uint16_t new_rpm, const float error_rate)
 {
     if (esc_index > ESC_TELEM_MAX_ESCS) {
         return;
@@ -335,7 +335,7 @@ void AP_ESC_Telem::update()
                 //   rpm is eRPM (rpm * 100)
                 //   voltage is in Volt
                 //   current is in Ampere
-                //   temperature is in centi-degrees Celsius
+                //   esc_temp is in centi-degrees Celsius
                 //   current_tot is in mili-Ampere hours
                 //   motor_temp is in centi-degrees Celsius
                 //   error_rate is in percentage

diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.h b/libraries/AP_ESC_Telem/AP_ESC_Telem.h
@@ -68,9 +68,9 @@ class AP_ESC_Telem {
 
 private:
     // callback to update the rpm in the frontend, should be called by the driver when new data is available
-    void update_rpm(uint8_t esc_index, uint16_t new_rpm, float error_rate);
+    void update_rpm(const uint8_t esc_index, const uint16_t new_rpm, const float error_rate);
     // callback to update the data in the frontend, should be called by the driver when new data is available
-    void update_telem_data(uint8_t esc_index, const AP_ESC_Telem_Backend::TelemetryData& new_data, uint16_t data_mask);
+    void update_telem_data(const uint8_t esc_index, const AP_ESC_Telem_Backend::TelemetryData& new_data, const uint16_t data_mask);
 
     // rpm data
     volatile AP_ESC_Telem_Backend::RpmData _rpm_data[ESC_TELEM_MAX_ESCS];

diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.cpp
@@ -31,12 +31,12 @@ AP_ESC_Telem_Backend::AP_ESC_Telem_Backend() {
 }
 
 // callback to update the rpm in the frontend, should be called by the driver when new data is available
-void AP_ESC_Telem_Backend::update_rpm(uint8_t esc_index, uint16_t new_rpm, float error_rate) {
+void AP_ESC_Telem_Backend::update_rpm(const uint8_t esc_index, const uint16_t new_rpm, const float error_rate) {
     _frontend->update_rpm(esc_index, new_rpm, error_rate);
 }
 
 // callback to update the data in the frontend, should be called by the driver when new data is available
-void AP_ESC_Telem_Backend::update_telem_data(uint8_t esc_index, const TelemetryData& new_data, uint16_t data_present_mask) {
+void AP_ESC_Telem_Backend::update_telem_data(const uint8_t esc_index, const TelemetryData& new_data, const uint16_t data_present_mask) {
     _frontend->update_telem_data(esc_index, new_data, data_present_mask);
 }
 

diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h b/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h
@@ -51,10 +51,10 @@ class AP_ESC_Telem_Backend {
 
 protected:
     // callback to update the rpm in the frontend, should be called by the driver when new data is available
-    void update_rpm(uint8_t esc_index, uint16_t new_rpm, float error_rate = 0.0f);
+    void update_rpm(const uint8_t esc_index, const uint16_t new_rpm, const float error_rate = 0.0f);
 
     // callback to update the data in the frontend, should be called by the driver when new data is available
-    void update_telem_data(uint8_t esc_index, const TelemetryData& new_data, uint16_t data_present_mask);
+    void update_telem_data(const uint8_t esc_index, const TelemetryData& new_data, const uint16_t data_present_mask);
 
 private:
     AP_ESC_Telem* _frontend;