APMRover2: correct some style

APMrover2/APMrover2.cpp

@@ -518,7 +518,6 @@ void Rover::update_current_mode(void)
           we set the exact value in set_servos(), but it helps for
           logging
          */
-        in_auto_reverse = false;
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in());
         SRV_Channels::set_output_scaled(SRV_Channel::k_steering, channel_steer->get_control_in());
 

APMrover2/GCS_Mavlink.cpp

@@ -180,6 +180,7 @@ void Rover::send_vfr_hud(mavlink_channel_t chan)
         ahrs.groundspeed(),
         (ahrs.yaw_sensor / 100) % 360,
         static_cast<uint16_t>(100 * fabsf(SRV_Channels::get_output_norm(SRV_Channel::k_throttle))),  // WRONG float to uint16
+        current_loc.alt / 100.0f,
         0);
 }
 

APMrover2/GCS_Mavlink.h

@@ -7,7 +7,6 @@
 
 class GCS_MAVLINK_Rover : public GCS_MAVLINK
 {
-
 public:
 
     void data_stream_send(void) override;
@@ -23,5 +22,4 @@ private:
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
     void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
     bool try_send_message(enum ap_message id) override;
-
 };

APMrover2/Log.cpp

@@ -279,7 +279,7 @@ void Rover::Log_Write_Nav_Tuning()
 // Write an attitude packet
 void Rover::Log_Write_Attitude()
 {
-    Vector3f targets(0, 0, 0);       // Rover does not have attitude targets, use place-holder for commonality with Dataflash Log_Write_Attitude message
+    Vector3f targets(0.0f, 0.0f, 0.0f);  // Rover does not have attitude targets, use place-holder for commonality with Dataflash Log_Write_Attitude message
 
     DataFlash.Log_Write_Attitude(ahrs, targets);
 

APMrover2/Parameters.cpp

@@ -599,7 +599,7 @@ void Rover::load_parameters(void)
         cliSerial->printf("done.\n");
     }
 
-    unsigned long before = micros();
+    uint32_t before = micros();
     // Load all auto-loaded EEPROM variables
     AP_Param::load_all();
 

APMrover2/Parameters.h

@@ -288,7 +288,7 @@ public:
     Parameters() :
         // PID controller    initial P        initial I        initial D        initial imax
         //-----------------------------------------------------------------------------------
-        pidSpeedThrottle    (0.7,             0.2,             0.2,             4000)
+        pidSpeedThrottle    (0.7f,            0.2f,            0.2f,            4000)
         {}
 };
 
@@ -318,7 +318,6 @@ public:
     // advanced failsafe library
     AP_AdvancedFailsafe_Rover afs;
 #endif
-
 };
 
 extern const AP_Param::Info var_info[];

APMrover2/Rover.cpp

@@ -49,6 +49,6 @@ Rover::Rover(void) :
     frsky_telemetry(ahrs, battery, sonar),
 #endif
     home(ahrs.get_home()),
-    G_Dt(0.02)
+    G_Dt(0.02f)
 {
 }

APMrover2/commands_logic.cpp

@@ -305,7 +305,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
 
         // check if distance to the WP has changed and output new message if it has
         float dist_to_wp = get_distance(current_loc, next_WP);
-        if ((uint32_t)distance_past_wp != (uint32_t)dist_to_wp) {
+        if (!is_equal(distance_past_wp, dist_to_wp)) {
             distance_past_wp = dist_to_wp;
             gcs_send_text_fmt(MAV_SEVERITY_INFO, "Passed waypoint #%i. Distance %um",
                     static_cast<uint32_t>(cmd.index),
@@ -432,12 +432,12 @@ bool Rover::verify_within_distance()
 
 void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd)
 {
-    if (cmd.content.speed.target_ms > 0) {
+    if (cmd.content.speed.target_ms > 0.0f) {
         g.speed_cruise.set(cmd.content.speed.target_ms);
         gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise speed: %.1f m/s", static_cast<double>(g.speed_cruise.get()));
     }
 
-    if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) {
+    if (cmd.content.speed.throttle_pct > 0.0f && cmd.content.speed.throttle_pct <= 100.0f) {
         g.throttle_cruise.set(cmd.content.speed.throttle_pct);
         gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise throttle: %.1f", g.throttle_cruise.get());
     }

APMrover2/radio.cpp

@@ -158,6 +158,7 @@ void Rover::read_radio()
         float motor2 = channel_throttle->norm_input();
         float steering_scaled = motor1 - motor2;
         float throttle_scaled = 0.5f * (motor1 + motor2);
+
         int16_t steer = channel_steer->get_radio_trim();
         int16_t thr   = channel_throttle->get_radio_trim();
         if (steering_scaled > 0.0f) {