ekf2: fix code style

src/modules/ekf2/ekf2_main.cpp

@@ -129,7 +129,7 @@ private:
 	int		_gps_sub = -1;
 	int		_airspeed_sub = -1;
 	int		_params_sub = -1;
-        int		_control_mode_sub = -1;
+	int		_control_mode_sub = -1;
 
 	orb_advert_t _att_pub;
 	orb_advert_t _lpos_pub;
@@ -162,23 +162,23 @@ private:
 	control::BlockParamFloat *_gps_vel_noise;
 	control::BlockParamFloat *_gps_pos_noise;
 	control::BlockParamFloat *_baro_noise;
-        control::BlockParamFloat *_baro_innov_gate;     // innovation gate for barometric height innovation test (std dev)
-        control::BlockParamFloat *_posNE_innov_gate;    // innovation gate for GPS horizontal position innovation test (std dev)
-        control::BlockParamFloat *_vel_innov_gate;      // innovation gate for GPS velocity innovation test (std dev)
+	control::BlockParamFloat *_baro_innov_gate;     // innovation gate for barometric height innovation test (std dev)
+	control::BlockParamFloat *_posNE_innov_gate;    // innovation gate for GPS horizontal position innovation test (std dev)
+	control::BlockParamFloat *_vel_innov_gate;      // innovation gate for GPS velocity innovation test (std dev)
 
 	control::BlockParamFloat *_mag_heading_noise;	// measurement noise used for simple heading fusion
 	control::BlockParamFloat *_mag_declination_deg;	// magnetic declination in degrees
 	control::BlockParamFloat *_heading_innov_gate;	// innovation gate for heading innovation test
-        control::BlockParamFloat *_mag_innov_gate;	// innovation gate for magnetometer innovation test
+	control::BlockParamFloat *_mag_innov_gate;	// innovation gate for magnetometer innovation test
 
-        control::BlockParamInt *_gps_check_mask;        // bitmasked integer used to activate the different GPS quality checks
-        control::BlockParamFloat *_requiredEph;         // maximum acceptable horiz position error (m)
-        control::BlockParamFloat *_requiredEpv;         // maximum acceptable vert position error (m)
-        control::BlockParamFloat *_requiredSacc;        // maximum acceptable speed error (m/s)
-        control::BlockParamInt *_requiredNsats;         // minimum acceptable satellite count
-        control::BlockParamFloat *_requiredGDoP;        // maximum acceptable geometric dilution of precision
-        control::BlockParamFloat *_requiredHdrift;      // maximum acceptable horizontal drift speed (m/s)
-        control::BlockParamFloat *_requiredVdrift;      // maximum acceptable vertical drift speed (m/s)
+	control::BlockParamInt *_gps_check_mask;        // bitmasked integer used to activate the different GPS quality checks
+	control::BlockParamFloat *_requiredEph;         // maximum acceptable horiz position error (m)
+	control::BlockParamFloat *_requiredEpv;         // maximum acceptable vert position error (m)
+	control::BlockParamFloat *_requiredSacc;        // maximum acceptable speed error (m/s)
+	control::BlockParamInt *_requiredNsats;         // minimum acceptable satellite count
+	control::BlockParamFloat *_requiredGDoP;        // maximum acceptable geometric dilution of precision
+	control::BlockParamFloat *_requiredHdrift;      // maximum acceptable horizontal drift speed (m/s)
+	control::BlockParamFloat *_requiredVdrift;      // maximum acceptable vertical drift speed (m/s)
 
 	EstimatorInterface *_ekf;
 
@@ -217,23 +217,23 @@ Ekf2::Ekf2():
 	_gps_vel_noise = new control::BlockParamFloat(this, "EKF2_GPS_V_NOISE", false, &params->gps_vel_noise);
 	_gps_pos_noise = new control::BlockParamFloat(this, "EKF2_GPS_P_NOISE", false, &params->gps_pos_noise);
 	_baro_noise = new control::BlockParamFloat(this, "EKF2_BARO_NOISE", false, &params->baro_noise);
-        _baro_innov_gate = new control::BlockParamFloat(this, "EKF2_BARO_GATE", false, &params->baro_innov_gate);
-        _posNE_innov_gate = new control::BlockParamFloat(this, "EKF2_GPS_P_GATE", false, &params->posNE_innov_gate);
-        _vel_innov_gate = new control::BlockParamFloat(this, "EKF2_GPS_V_GATE", false, &params->vel_innov_gate);
+	_baro_innov_gate = new control::BlockParamFloat(this, "EKF2_BARO_GATE", false, &params->baro_innov_gate);
+	_posNE_innov_gate = new control::BlockParamFloat(this, "EKF2_GPS_P_GATE", false, &params->posNE_innov_gate);
+	_vel_innov_gate = new control::BlockParamFloat(this, "EKF2_GPS_V_GATE", false, &params->vel_innov_gate);
 
 	_mag_heading_noise = new control::BlockParamFloat(this, "EKF2_HEAD_NOISE", false, &params->mag_heading_noise);
 	_mag_declination_deg = new control::BlockParamFloat(this, "EKF2_MAG_DECL", false, &params->mag_declination_deg);
-        _heading_innov_gate = new control::BlockParamFloat(this, "EKF2_HDG_GATE", false, &params->heading_innov_gate);
-        _mag_innov_gate = new control::BlockParamFloat(this, "EKF2_MAG_GATE", false, &params->mag_innov_gate);
-
-        _gps_check_mask = new control::BlockParamInt(this, "EKF2_GPS_CHECK", false, &params->gps_check_mask);
-        _requiredEph = new control::BlockParamFloat(this, "EKF2_REQ_EPH", false, &params->req_hacc);
-        _requiredEpv = new control::BlockParamFloat(this, "EKF2_REQ_EPV", false, &params->req_vacc);
-        _requiredSacc = new control::BlockParamFloat(this, "EKF2_REQ_SACC", false, &params->req_sacc);
-        _requiredNsats = new control::BlockParamInt(this, "EKF2_REQ_NSATS", false, &params->req_nsats);
-        _requiredGDoP = new control::BlockParamFloat(this, "EKF2_REQ_GDOP", false, &params->req_gdop);
-        _requiredHdrift = new control::BlockParamFloat(this, "EKF2_REQ_HDRIFT", false, &params->req_hdrift);
-        _requiredVdrift = new control::BlockParamFloat(this, "EKF2_REQ_VDRIFT", false, &params->req_vdrift);
+	_heading_innov_gate = new control::BlockParamFloat(this, "EKF2_HDG_GATE", false, &params->heading_innov_gate);
+	_mag_innov_gate = new control::BlockParamFloat(this, "EKF2_MAG_GATE", false, &params->mag_innov_gate);
+
+	_gps_check_mask = new control::BlockParamInt(this, "EKF2_GPS_CHECK", false, &params->gps_check_mask);
+	_requiredEph = new control::BlockParamFloat(this, "EKF2_REQ_EPH", false, &params->req_hacc);
+	_requiredEpv = new control::BlockParamFloat(this, "EKF2_REQ_EPV", false, &params->req_vacc);
+	_requiredSacc = new control::BlockParamFloat(this, "EKF2_REQ_SACC", false, &params->req_sacc);
+	_requiredNsats = new control::BlockParamInt(this, "EKF2_REQ_NSATS", false, &params->req_nsats);
+	_requiredGDoP = new control::BlockParamFloat(this, "EKF2_REQ_GDOP", false, &params->req_gdop);
+	_requiredHdrift = new control::BlockParamFloat(this, "EKF2_REQ_HDRIFT", false, &params->req_hdrift);
+	_requiredVdrift = new control::BlockParamFloat(this, "EKF2_REQ_VDRIFT", false, &params->req_vdrift);
 
 }
 
@@ -262,7 +262,7 @@ void Ekf2::task_main()
 	_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
 	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));
-        _control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
+	_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
 
 	px4_pollfd_struct_t fds[2] = {};
 	fds[0].fd = _sensors_sub;
@@ -296,6 +296,7 @@ void Ekf2::task_main()
 
 			// fetch sensor data in next loop
 			continue;
+
 		} else if (!(fds[0].revents & POLLIN)) {
 			// no new data
 			continue;
@@ -303,11 +304,11 @@ void Ekf2::task_main()
 
 		bool gps_updated = false;
 		bool airspeed_updated = false;
-                bool control_mode_updated = false;
+		bool control_mode_updated = false;
 
 		sensor_combined_s sensors = {};
 		airspeed_s airspeed = {};
-                vehicle_control_mode_s vehicle_control_mode = {};
+		vehicle_control_mode_s vehicle_control_mode = {};
 
 		orb_copy(ORB_ID(sensor_combined), _sensors_sub, &sensors);
 
@@ -324,15 +325,16 @@ void Ekf2::task_main()
 			orb_copy(ORB_ID(airspeed), _airspeed_sub, &airspeed);
 		}
 
-                // Use the control model data to determine if the motors are armed as a surrogate for an on-ground vs in-air status
-                // TODO implement a global vehicle on-ground/in-air check
-                orb_check(_control_mode_sub, &control_mode_updated);
-                if (control_mode_updated) {
-                        orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &vehicle_control_mode);
-                        _ekf->set_arm_status(vehicle_control_mode.flag_armed);
-                }
+		// Use the control model data to determine if the motors are armed as a surrogate for an on-ground vs in-air status
+		// TODO implement a global vehicle on-ground/in-air check
+		orb_check(_control_mode_sub, &control_mode_updated);
+
+		if (control_mode_updated) {
+			orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &vehicle_control_mode);
+			_ekf->set_arm_status(vehicle_control_mode.flag_armed);
+		}
 
-                hrt_abstime now = hrt_absolute_time();
+		hrt_abstime now = hrt_absolute_time();
 		// push imu data into estimator
 		_ekf->setIMUData(now, sensors.gyro_integral_dt[0], sensors.accelerometer_integral_dt[0],
 				 &sensors.gyro_integral_rad[0], &sensors.accelerometer_integral_m_s[0]);
@@ -353,16 +355,16 @@ void Ekf2::task_main()
 			gps_msg.fix_type = gps.fix_type;
 			gps_msg.eph = gps.eph;
 			gps_msg.epv = gps.epv;
-                        gps_msg.sacc = gps.s_variance_m_s;
+			gps_msg.sacc = gps.s_variance_m_s;
 			gps_msg.time_usec_vel = gps.timestamp_velocity;
 			gps_msg.vel_m_s = gps.vel_m_s;
 			gps_msg.vel_ned[0] = gps.vel_n_m_s;
 			gps_msg.vel_ned[1] = gps.vel_e_m_s;
 			gps_msg.vel_ned[2] = gps.vel_d_m_s;
 			gps_msg.vel_ned_valid = gps.vel_ned_valid;
-                        gps_msg.nsats = gps.satellites_used;
-                        //TODO add gdop to gps topic
-                        gps_msg.gdop = 0.0f;
+			gps_msg.nsats = gps.satellites_used;
+			//TODO add gdop to gps topic
+			gps_msg.gdop = 0.0f;
 
 			_ekf->setGpsData(gps.timestamp_position, &gps_msg);
 		}
@@ -412,12 +414,13 @@ void Ekf2::task_main()
 		lpos.v_z_valid = true;
 
 		// Position of local NED origin in GPS / WGS84 frame
-                struct map_projection_reference_s ekf_origin = {};
-                _ekf->get_ekf_origin(&lpos.ref_timestamp,&ekf_origin,&lpos.ref_alt);
-                lpos.xy_global = _ekf->position_is_valid();          // true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon)
-                lpos.z_global = true;                                // true if z is valid and has valid global reference (ref_alt)
-                lpos.ref_lat = ekf_origin.lat_rad * 180.0 / M_PI; // Reference point latitude in degrees
-                lpos.ref_lon = ekf_origin.lon_rad * 180.0 / M_PI; // Reference point longitude in degrees
+		struct map_projection_reference_s ekf_origin = {};
+		_ekf->get_ekf_origin(&lpos.ref_timestamp, &ekf_origin, &lpos.ref_alt);
+		lpos.xy_global =
+			_ekf->position_is_valid();          // true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon)
+		lpos.z_global = true;                                // true if z is valid and has valid global reference (ref_alt)
+		lpos.ref_lat = ekf_origin.lat_rad * 180.0 / M_PI; // Reference point latitude in degrees
+		lpos.ref_lon = ekf_origin.lon_rad * 180.0 / M_PI; // Reference point longitude in degrees
 
 		// The rotation of the tangent plane vs. geographical north
 		lpos.yaw = 0.0f;
@@ -525,7 +528,7 @@ void Ekf2::task_main()
 		status.timestamp = hrt_absolute_time();
 		_ekf->get_state_delayed(status.states);
 		_ekf->get_covariances(status.covariances);
-                //status.gps_check_fail_flags = _ekf->_gps_check_fail_status.value;
+		//status.gps_check_fail_flags = _ekf->_gps_check_fail_status.value;
 
 		if (_estimator_status_pub == nullptr) {
 			_estimator_status_pub = orb_advertise(ORB_ID(estimator_status), &status);