commander, navigator, mc_att_control, mc_pos_control: code style fixed

src/modules/commander/commander.cpp

@@ -369,6 +369,7 @@ int arm()
 	if (arming_res == TRANSITION_CHANGED) {
 		mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline");
 		return 0;
+
 	} else {
 		return 1;
 	}
@@ -381,6 +382,7 @@ int disarm()
 	if (arming_res == TRANSITION_CHANGED) {
 		mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline");
 		return 0;
+
 	} else {
 		return 1;
 	}

src/modules/commander/state_machine_helper.cpp

@@ -382,6 +382,7 @@ transition_result_t failsafe_state_transition(struct vehicle_status_s *status, f
 			break;
 
 		case FAILSAFE_STATE_RTL:
+
 			/* global position and home position required for RTL */
 			if (status->condition_global_position_valid && status->condition_home_position_valid) {
 				status->set_nav_state = NAV_STATE_RTL;
@@ -392,6 +393,7 @@ transition_result_t failsafe_state_transition(struct vehicle_status_s *status, f
 			break;
 
 		case FAILSAFE_STATE_LAND:
+
 			/* at least relative altitude estimate required for landing */
 			if (status->condition_local_altitude_valid || status->condition_global_position_valid) {
 				status->set_nav_state = NAV_STATE_LAND;

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -489,14 +489,18 @@ MulticopterAttitudeControl::control_attitude(float dt)
 			//}
 		} else {
 			float yaw_dz_scaled = YAW_DEADZONE * _params.rc_scale_yaw;
+
 			if (_params.rc_scale_yaw > 0.001f && fabs(_manual_control_sp.yaw) > yaw_dz_scaled) {
 				/* move yaw setpoint */
 				yaw_sp_move_rate = _manual_control_sp.yaw / _params.rc_scale_yaw;
+
 				if (_manual_control_sp.yaw > 0.0f) {
 					yaw_sp_move_rate -= YAW_DEADZONE;
+
 				} else {
 					yaw_sp_move_rate += YAW_DEADZONE;
 				}
+
 				yaw_sp_move_rate *= _params.rc_scale_yaw;
 				_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
 				_v_att_sp.R_valid = false;
@@ -660,7 +664,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
 				float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt;
 
 				if (isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
-					_att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
+				    _att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
 					_rates_int(i) = rate_i;
 				}
 			}

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -479,9 +479,11 @@ MulticopterPositionControl::select_alt(bool global)
 {
 	if (global != _use_global_alt) {
 		_use_global_alt = global;
+
 		if (global) {
 			/* switch from barometric to global altitude */
 			_alt_sp += _global_pos.alt - _global_pos.baro_alt;
+
 		} else {
 			/* switch from global to barometric altitude */
 			_alt_sp += _global_pos.baro_alt - _global_pos.alt;
@@ -589,6 +591,7 @@ MulticopterPositionControl::task_main()
 			if (_control_mode.flag_control_manual_enabled) {
 				/* select altitude source and update setpoint */
 				select_alt(_global_pos.global_valid);
+
 				if (!_use_global_alt) {
 					alt = _global_pos.baro_alt;
 				}
@@ -845,9 +848,10 @@ MulticopterPositionControl::task_main()
 
 					/* adjust limits for landing mode */
 					if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid &&
-							_pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
+					    _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
 						/* limit max tilt and min lift when landing */
 						tilt_max = _params.land_tilt_max;
+
 						if (thr_min < 0.0f)
 							thr_min = 0.0f;
 					}
@@ -863,9 +867,11 @@ MulticopterPositionControl::task_main()
 						if (thr_min >= 0.0f && tilt_max < M_PI / 2 - 0.05f) {
 							/* absolute horizontal thrust */
 							float thrust_sp_xy_len = math::Vector<2>(thrust_sp(0), thrust_sp(1)).length();
+
 							if (thrust_sp_xy_len > 0.01f) {
 								/* max horizontal thrust for given vertical thrust*/
 								float thrust_xy_max = -thrust_sp(2) * tanf(tilt_max);
+
 								if (thrust_sp_xy_len > thrust_xy_max) {
 									float k = thrust_xy_max / thrust_sp_xy_len;
 									thrust_sp(0) *= k;
@@ -874,15 +880,18 @@ MulticopterPositionControl::task_main()
 								}
 							}
 						}
+
 					} else {
 						/* thrust compensation for altitude only control mode */
 						float att_comp;
 
 						if (_att.R[2][2] > TILT_COS_MAX) {
 							att_comp = 1.0f / _att.R[2][2];
+
 						} else if (_att.R[2][2] > 0.0f) {
 							att_comp = ((1.0f / TILT_COS_MAX - 1.0f) / TILT_COS_MAX) * _att.R[2][2] + 1.0f;
 							saturation_z = true;
+
 						} else {
 							att_comp = 1.0f;
 							saturation_z = true;

src/modules/navigator/navigator_main.cpp

@@ -689,7 +689,7 @@ Navigator::task_main()
 					if (_vstatus.return_switch == RETURN_SWITCH_RETURN) {
 						/* switch to RTL if not already landed after RTL and home position set */
 						if (!(_rtl_state == RTL_STATE_DESCEND && (myState == NAV_STATE_READY || myState == NAV_STATE_LAND)) &&
-								_vstatus.condition_home_position_valid) {
+						    _vstatus.condition_home_position_valid) {
 							dispatch(EVENT_RTL_REQUESTED);
 						}
 
@@ -747,7 +747,7 @@ Navigator::task_main()
 
 						case NAV_STATE_RTL:
 							if (!(_rtl_state == RTL_STATE_DESCEND && (myState == NAV_STATE_READY || myState == NAV_STATE_LAND)) &&
-									_vstatus.condition_home_position_valid) {
+							    _vstatus.condition_home_position_valid) {
 								dispatch(EVENT_RTL_REQUESTED);
 							}
 
@@ -1575,6 +1575,7 @@ Navigator::on_mission_item_reached()
 		if (_rtl_state == RTL_STATE_DESCEND) {
 			/* hovering above home position, land if needed or loiter */
 			mavlink_log_info(_mavlink_fd, "[navigator] RTL completed");
+
 			if (_mission_item.autocontinue) {
 				dispatch(EVENT_LAND_REQUESTED);
 

src/modules/navigator/navigator_mission.cpp

@@ -52,8 +52,8 @@
 static const int ERROR = -1;
 
 
-Mission::Mission() : 
-	
+Mission::Mission() :
+
 	_offboard_dataman_id(-1),
 	_current_offboard_mission_index(0),
 	_current_onboard_mission_index(0),
@@ -65,7 +65,7 @@ Mission::Mission() :
 
 Mission::~Mission()
 {
-	
+
 }
 
 void
@@ -126,33 +126,39 @@ Mission::get_current_mission_item(struct mission_item_s *new_mission_item, bool
 {
 	/* try onboard mission first */
 	if (current_onboard_mission_available()) {
-		
+
 		const ssize_t len = sizeof(struct mission_item_s);
+
 		if (dm_read(DM_KEY_WAYPOINTS_ONBOARD, _current_onboard_mission_index, new_mission_item, len) != len) {
 			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
 			return ERROR;
 		}
+
 		_current_mission_type = MISSION_TYPE_ONBOARD;
 		*onboard = true;
 		*index = _current_onboard_mission_index;
 
-	/* otherwise fallback to offboard */
+		/* otherwise fallback to offboard */
+
 	} else if (current_offboard_mission_available()) {
 
 		dm_item_t dm_current;
 
 		if (_offboard_dataman_id == 0) {
 			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
+
 		} else {
 			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
 		}
 
 		const ssize_t len = sizeof(struct mission_item_s);
+
 		if (dm_read(dm_current, _current_offboard_mission_index, new_mission_item, len) != len) {
 			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
 			_current_mission_type = MISSION_TYPE_NONE;
 			return ERROR;
 		}
+
 		_current_mission_type = MISSION_TYPE_OFFBOARD;
 		*onboard = false;
 		*index = _current_offboard_mission_index;
@@ -171,25 +177,29 @@ Mission::get_next_mission_item(struct mission_item_s *new_mission_item)
 {
 	/* try onboard mission first */
 	if (next_onboard_mission_available()) {
-		
+
 		const ssize_t len = sizeof(struct mission_item_s);
+
 		if (dm_read(DM_KEY_WAYPOINTS_ONBOARD, _current_onboard_mission_index + 1, new_mission_item, len) != len) {
 			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
 			return ERROR;
 		}
 
-	/* otherwise fallback to offboard */
+		/* otherwise fallback to offboard */
+
 	} else if (next_offboard_mission_available()) {
 
 		dm_item_t dm_current;
 
 		if (_offboard_dataman_id == 0) {
 			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
+
 		} else {
 			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
 		}
 
 		const ssize_t len = sizeof(struct mission_item_s);
+
 		if (dm_read(dm_current, _current_offboard_mission_index + 1, new_mission_item, len) != len) {
 			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
 			return ERROR;
@@ -244,14 +254,16 @@ void
 Mission::move_to_next()
 {
 	switch (_current_mission_type) {
-		case MISSION_TYPE_ONBOARD:
-			_current_onboard_mission_index++;
-			break;
-		case MISSION_TYPE_OFFBOARD:
-			_current_offboard_mission_index++;
-			break;
-		case MISSION_TYPE_NONE:
-		default:
-			break;
+	case MISSION_TYPE_ONBOARD:
+		_current_onboard_mission_index++;
+		break;
+
+	case MISSION_TYPE_OFFBOARD:
+		_current_offboard_mission_index++;
+		break;
+
+	case MISSION_TYPE_NONE:
+	default:
+		break;
 	}
 }