AP_NavEKF2/3: constify CorrectGPSForAntennaOffset #14108
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also reduce scope of call to slightly reduce CPU load
also reduce scope of call to slightly reduce CPU load
khancyr
approved these changes
Apr 16, 2020
tridge
approved these changes
Apr 21, 2020
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This PR changes the EKF2/3's CorrectGPSForAntennaOffset to make it const and also slightly reduces the number of times it is called by moving it so that it is run just before its outputs are needed.
I have not specifically tested the change beyond the regular autotests but I think just from inspection we can see that it can't possibly do any harm.
EKF2::CorrectExtNavForSensorOffset is also made const.