Merge branch 'astyle' of github.com:dagar/Firmware

.travis.yml

@@ -56,6 +56,9 @@ before_script:
   - ln -s /usr/bin/ccache ~/bin/g++-4.8
   - ln -s /usr/bin/ccache ~/bin/gcc-4.8
   - export PATH=~/bin:$PATH
+# grab astyle 2.05.1
+  - wget -O ~/bin/astyle https://github.com/PX4/astyle/releases/download/2.05.1/astyle-linux && chmod +x ~/bin/astyle
+  - astyle --version
 
 env:
   global:
@@ -66,6 +69,7 @@ env:
     - PX4_AWS_BUCKET=px4-travis
 
 script:
+  - make check_format
   - ccache -z
   - arm-none-eabi-gcc --version
   - echo 'Building POSIX Firmware..' && echo -en 'travis_fold:start:script.1\\r'

Makefile

@@ -222,9 +222,9 @@ qurtrun:
 tests:	generateuorbtopicheaders
 	$(Q) (mkdir -p $(PX4_BASE)/unittests/build && cd $(PX4_BASE)/unittests/build && cmake .. && $(MAKE) --no-print-directory unittests)
 
-.PHONY: format check_format
+.PHONY: check_format
 check_format:
-	$(Q) (./Tools/check_code_style.sh | sort -n)
+	$(Q) (./Tools/check_code_style.sh)
 
 #
 # Cleanup targets.  'clean' should remove all built products and force

Tools/check_code_style.sh

@@ -1,16 +1,22 @@
 #!/usr/bin/env bash
 set -eu
 failed=0
-for fn in $(find . -path './src/lib/uavcan' -prune -o \
-                   -path './src/lib/mathlib/CMSIS' -prune -o \
-                   -path './src/lib/eigen' -prune -o \
-                   -path './src/modules/attitude_estimator_ekf/codegen' -prune -o \
-                   -path './NuttX' -prune -o \
+for fn in $(find src/examples \
+                 src/systemcmds \
                    -path './Build' -prune -o \
                    -path './mavlink' -prune -o \
-                   -path './unittests/gtest' -prune -o \
+                   -path './NuttX' -prune -o \
+                   -path './src/lib/eigen' -prune -o \
+                   -path './src/lib/mathlib/CMSIS' -prune -o \
+                   -path './src/lib/uavcan' -prune -o \
+                   -path './src/modules/attitude_estimator_ekf/codegen' -prune -o \
+                   -path './src/modules/ekf_att_pos_estimator' -prune -o \
+                   -path './src/modules/sdlog2' -prune -o \
+                   -path './src/modules/uORB' -prune -o \
+                   -path './src/modules/vtol_att_control' -prune -o \
                    -path './unittests/build' -prune -o \
-                   -name '*.c' -o -name '*.cpp' -o -name '*.hpp' -o -name '*.h' -type f); do
+                   -path './unittests/gtest' -prune -o \
+                   -name '*.c' -o -name '*.cpp' -o -name '*.hpp' -o -name '*.h' -not -name '*generated*' -type f); do
   if [ -f "$fn" ];
   then
     ./Tools/fix_code_style.sh --quiet < $fn > $fn.pretty
@@ -18,7 +24,7 @@ for fn in $(find . -path './src/lib/uavcan' -prune -o \
     rm -f $fn.pretty
     if [ $diffsize -ne 0 ]; then
       failed=1
-      echo $diffsize $fn
+      echo $fn 'bad formatting, please run "./Tools/fix_code_style.sh' $fn'"'
     fi
   fi
 done
@@ -27,6 +33,6 @@ if [ $failed -eq 0 ]; then
     echo "Format checks passed"
     exit 0
 else
-    echo "Format checks failed; please run ./Tools/fix_code_style.sh on each file"
+    echo "Format checks failed"
     exit 1
 fi

Tools/fix_code_style.sh

@@ -1,4 +1,14 @@
-#!/bin/sh
+#!/bin/bash
+
+ASTYLE_VER=`astyle --version`
+ASTYLE_VER_REQUIRED="Artistic Style Version 2.05.1"
+
+if [ "$ASTYLE_VER" != "$ASTYLE_VER_REQUIRED" ]; then
+  echo "Error: you're using ${ASTYLE_VER}, but PX4 requires ${ASTYLE_VER_REQUIRED}"
+  echo "You can get the correct version here: https://github.com/PX4/astyle/releases/tag/2.05.1"
+  exit 1
+fi
+
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 astyle \
     --options=$DIR/astylerc          \

src/examples/fixedwing_control/main.c

@@ -432,11 +432,11 @@ int ex_fixedwing_control_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 		deamon_task = px4_task_spawn_cmd("ex_fixedwing_control",
-					     SCHED_DEFAULT,
-					     SCHED_PRIORITY_MAX - 20,
-					     2048,
-					     fixedwing_control_thread_main,
-					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
+						 SCHED_DEFAULT,
+						 SCHED_PRIORITY_MAX - 20,
+						 2048,
+						 fixedwing_control_thread_main,
+						 (argv) ? (char *const *)&argv[2] : (char *const *)NULL);
 		thread_running = true;
 		exit(0);
 	}

src/examples/flow_position_estimator/flow_position_estimator_main.c

@@ -112,11 +112,11 @@ int flow_position_estimator_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 		daemon_task = px4_task_spawn_cmd("flow_position_estimator",
-					     SCHED_DEFAULT,
-					     SCHED_PRIORITY_MAX - 5,
-					     4000,
-					     flow_position_estimator_thread_main,
-					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
+						 SCHED_DEFAULT,
+						 SCHED_PRIORITY_MAX - 5,
+						 4000,
+						 flow_position_estimator_thread_main,
+						 (argv) ? (char *const *)&argv[2] : (char *const *)NULL);
 		exit(0);
 	}
 

src/examples/matlab_csv_serial/matlab_csv_serial.c

@@ -104,11 +104,11 @@ int matlab_csv_serial_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 		daemon_task = px4_task_spawn_cmd("matlab_csv_serial",
-					     SCHED_DEFAULT,
-					     SCHED_PRIORITY_MAX - 5,
-					     2000,
-					     matlab_csv_serial_thread_main,
-					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
+						 SCHED_DEFAULT,
+						 SCHED_PRIORITY_MAX - 5,
+						 2000,
+						 matlab_csv_serial_thread_main,
+						 (argv) ? (char *const *)&argv[2] : (char *const *)NULL);
 		exit(0);
 	}
 

src/examples/publisher/publisher_start_nuttx.cpp

@@ -69,11 +69,11 @@ int publisher_main(int argc, char *argv[])
 		task_should_exit = false;
 
 		daemon_task = px4_task_spawn_cmd("publisher",
-				       SCHED_DEFAULT,
-				       SCHED_PRIORITY_MAX - 5,
-				       2000,
-				       main,
-					(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
+						 SCHED_DEFAULT,
+						 SCHED_PRIORITY_MAX - 5,
+						 2000,
+						 main,
+						 (argv) ? (char *const *)&argv[2] : (char *const *)NULL);
 
 		exit(0);
 	}

src/examples/px4_daemon_app/px4_daemon_app.c

@@ -103,11 +103,11 @@ int px4_daemon_app_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 		daemon_task = px4_task_spawn_cmd("daemon",
-					     SCHED_DEFAULT,
-					     SCHED_PRIORITY_DEFAULT,
-					     2000,
-					     px4_daemon_thread_main,
-					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
+						 SCHED_DEFAULT,
+						 SCHED_PRIORITY_DEFAULT,
+						 2000,
+						 px4_daemon_thread_main,
+						 (argv) ? (char *const *)&argv[2] : (char *const *)NULL);
 		return 0;
 	}
 

src/examples/rover_steering_control/main.cpp

@@ -426,11 +426,11 @@ int rover_steering_control_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 		deamon_task = px4_task_spawn_cmd("rover_steering_control",
-					     SCHED_DEFAULT,
-					     SCHED_PRIORITY_MAX - 20,
-					     2048,
-					     rover_steering_control_thread_main,
-					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
+						 SCHED_DEFAULT,
+						 SCHED_PRIORITY_MAX - 20,
+						 2048,
+						 rover_steering_control_thread_main,
+						 (argv) ? (char *const *)&argv[2] : (char *const *)NULL);
 		thread_running = true;
 		exit(0);
 	}

src/examples/subscriber/subscriber_start_nuttx.cpp

@@ -69,11 +69,11 @@ int subscriber_main(int argc, char *argv[])
 		task_should_exit = false;
 
 		daemon_task = px4_task_spawn_cmd("subscriber",
-				       SCHED_DEFAULT,
-				       SCHED_PRIORITY_MAX - 5,
-				       2000,
-				       main,
-					(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
+						 SCHED_DEFAULT,
+						 SCHED_PRIORITY_MAX - 5,
+						 2000,
+						 main,
+						 (argv) ? (char *const *)&argv[2] : (char *const *)NULL);
 
 		exit(0);
 	}

src/systemcmds/bl_update/bl_update.c

@@ -61,33 +61,40 @@ static void setopt(void);
 int
 bl_update_main(int argc, char *argv[])
 {
-	if (argc != 2)
+	if (argc != 2) {
 		errx(1, "missing firmware filename or command");
+	}
 
-	if (!strcmp(argv[1], "setopt"))
+	if (!strcmp(argv[1], "setopt")) {
 		setopt();
+	}
 
 	int fd = open(argv[1], O_RDONLY);
 
-	if (fd < 0)
+	if (fd < 0) {
 		err(1, "open %s", argv[1]);
+	}
 
 	struct stat s;
 
-	if (stat(argv[1], &s) != 0)
+	if (stat(argv[1], &s) != 0) {
 		err(1, "stat %s", argv[1]);
+	}
 
 	/* sanity-check file size */
-	if (s.st_size > BL_FILE_SIZE_LIMIT)
+	if (s.st_size > BL_FILE_SIZE_LIMIT) {
 		errx(1, "%s: file too large (limit: %u, actual: %d)", argv[1], BL_FILE_SIZE_LIMIT, s.st_size);
+	}
 
 	uint8_t *buf = malloc(s.st_size);
 
-	if (buf == NULL)
+	if (buf == NULL) {
 		errx(1, "failed to allocate %u bytes for firmware buffer", s.st_size);
+	}
 
-	if (read(fd, buf, s.st_size) != s.st_size)
+	if (read(fd, buf, s.st_size) != s.st_size) {
 		err(1, "firmware read error");
+	}
 
 	close(fd);
 
@@ -193,24 +200,27 @@ setopt(void)
 	const uint16_t opt_mask = (3 << 2);		/* BOR_LEV bitmask */
 	const uint16_t opt_bits = (0 << 2);		/* BOR = 0, setting for 2.7-3.6V operation */
 
-	if ((*optcr & opt_mask) == opt_bits)
+	if ((*optcr & opt_mask) == opt_bits) {
 		errx(0, "option bits are already set as required");
+	}
 
 	/* unlock the control register */
 	volatile uint32_t *optkeyr = (volatile uint32_t *)0x40023c08;
 	*optkeyr = 0x08192a3bU;
 	*optkeyr = 0x4c5d6e7fU;
 
-	if (*optcr & 1)
+	if (*optcr & 1) {
 		errx(1, "option control register unlock failed");
+	}
 
 	/* program the new option value */
 	*optcr = (*optcr & ~opt_mask) | opt_bits | (1 << 1);
 
 	usleep(1000);
 
-	if ((*optcr & opt_mask) == opt_bits)
+	if ((*optcr & opt_mask) == opt_bits) {
 		errx(0, "option bits set");
+	}
 
 	errx(1, "option bits setting failed; readback 0x%04x", *optcr);
 

src/systemcmds/config/config.c

@@ -71,12 +71,15 @@ int
 config_main(int argc, char *argv[])
 {
 	if (argc >= 2) {
-		if (!strncmp(argv[1], "/dev/gyro",9)) {
+		if (!strncmp(argv[1], "/dev/gyro", 9)) {
 			do_gyro(argc - 1, argv + 1);
-		} else if (!strncmp(argv[1], "/dev/accel",10)) {
+
+		} else if (!strncmp(argv[1], "/dev/accel", 10)) {
 			do_accel(argc - 1, argv + 1);
-		} else if (!strncmp(argv[1], "/dev/mag",8)) {
+
+		} else if (!strncmp(argv[1], "/dev/mag", 8)) {
 			do_mag(argc - 1, argv + 1);
+
 		} else {
 			do_device(argc - 1, argv + 1);
 		}
@@ -109,16 +112,18 @@ do_device(int argc, char *argv[])
 			/* disable the device publications */
 			ret = ioctl(fd, DEVIOCSPUBBLOCK, 1);
 
-			if (ret)
-				errx(ret,"uORB publications could not be blocked");
+			if (ret) {
+				errx(ret, "uORB publications could not be blocked");
+			}
 
 		} else if (argc == 2 && !strcmp(argv[1], "unblock")) {
 
 			/* enable the device publications */
 			ret = ioctl(fd, DEVIOCSPUBBLOCK, 0);
 
-			if (ret)
-				errx(ret,"uORB publications could not be unblocked");
+			if (ret) {
+				errx(ret, "uORB publications could not be unblocked");
+			}
 
 		} else {
 			errx(1, "no valid command: %s", argv[1]);
@@ -148,24 +153,27 @@ do_gyro(int argc, char *argv[])
 			/* set the gyro internal sampling rate up to at least i Hz */
 			ret = ioctl(fd, GYROIOCSSAMPLERATE, strtoul(argv[2], NULL, 0));
 
-			if (ret)
-				errx(ret,"sampling rate could not be set");
+			if (ret) {
+				errx(ret, "sampling rate could not be set");
+			}
 
 		} else if (argc == 3 && !strcmp(argv[1], "rate")) {
 
 			/* set the driver to poll at i Hz */
 			ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[2], NULL, 0));
 
-			if (ret)
-				errx(ret,"pollrate could not be set");
+			if (ret) {
+				errx(ret, "pollrate could not be set");
+			}
 
 		} else if (argc == 3 && !strcmp(argv[1], "range")) {
 
 			/* set the range to i dps */
 			ret = ioctl(fd, GYROIOCSRANGE, strtoul(argv[2], NULL, 0));
 
-			if (ret)
-				errx(ret,"range could not be set");
+			if (ret) {
+				errx(ret, "range could not be set");
+			}
 
 		} else if (argc == 2 && !strcmp(argv[1], "check")) {
 			ret = ioctl(fd, GYROIOCSELFTEST, 0);
@@ -181,6 +189,7 @@ do_gyro(int argc, char *argv[])
 
 				warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset, (double)scale.z_offset);
 				warnx("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale);
+
 			} else {
 				warnx("gyro calibration and self test OK");
 			}
@@ -192,12 +201,13 @@ do_gyro(int argc, char *argv[])
 		int srate = ioctl(fd, GYROIOCGSAMPLERATE, 0);
 		int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
 		int range = ioctl(fd, GYROIOCGRANGE, 0);
-		int id = ioctl(fd, DEVIOCGDEVICEID,0);
+		int id = ioctl(fd, DEVIOCGDEVICEID, 0);
 		int32_t calibration_id = 0;
 
 		param_get(param_find("CAL_GYRO0_ID"), &(calibration_id));
 
-		warnx("gyro: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d dps", id, calibration_id, srate, prate, range);
+		warnx("gyro: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d dps",
+		      id, calibration_id, srate, prate, range);
 
 		close(fd);
 	}
@@ -225,26 +235,29 @@ do_mag(int argc, char *argv[])
 			/* set the mag internal sampling rate up to at least i Hz */
 			ret = ioctl(fd, MAGIOCSSAMPLERATE, strtoul(argv[2], NULL, 0));
 
-			if (ret)
-				errx(ret,"sampling rate could not be set");
+			if (ret) {
+				errx(ret, "sampling rate could not be set");
+			}
 
 		} else if (argc == 3 && !strcmp(argv[1], "rate")) {
 
 			/* set the driver to poll at i Hz */
 			ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[2], NULL, 0));
 
-			if (ret)
-				errx(ret,"pollrate could not be set");
+			if (ret) {
+				errx(ret, "pollrate could not be set");
+			}
 
 		} else if (argc == 3 && !strcmp(argv[1], "range")) {
 
 			/* set the range to i G */
 			ret = ioctl(fd, MAGIOCSRANGE, strtoul(argv[2], NULL, 0));
 
-			if (ret)
-				errx(ret,"range could not be set");
+			if (ret) {
+				errx(ret, "range could not be set");
+			}
 
-		} else if(argc == 2 && !strcmp(argv[1], "check")) {
+		} else if (argc == 2 && !strcmp(argv[1], "check")) {
 			ret = ioctl(fd, MAGIOCSELFTEST, 0);
 
 			if (ret) {
@@ -258,6 +271,7 @@ do_mag(int argc, char *argv[])
 
 				warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset, (double)scale.z_offset);
 				warnx("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale);
+
 			} else {
 				warnx("mag calibration and self test OK");
 			}
@@ -269,12 +283,13 @@ do_mag(int argc, char *argv[])
 		int srate = ioctl(fd, MAGIOCGSAMPLERATE, 0);
 		int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
 		int range = ioctl(fd, MAGIOCGRANGE, 0);
-		int id = ioctl(fd, DEVIOCGDEVICEID,0);
+		int id = ioctl(fd, DEVIOCGDEVICEID, 0);
 		int32_t calibration_id = 0;
 
 		param_get(param_find("CAL_MAG0_ID"), &(calibration_id));
 
-		warnx("mag: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga", id, calibration_id, srate, prate, range);
+		warnx("mag: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga",
+		      id, calibration_id, srate, prate, range);
 
 		close(fd);
 	}
@@ -302,26 +317,29 @@ do_accel(int argc, char *argv[])
 			/* set the accel internal sampling rate up to at least i Hz */
 			ret = ioctl(fd, ACCELIOCSSAMPLERATE, strtoul(argv[2], NULL, 0));
 
-			if (ret)
-				errx(ret,"sampling rate could not be set");
+			if (ret) {
+				errx(ret, "sampling rate could not be set");
+			}
 
 		} else if (argc == 3 && !strcmp(argv[1], "rate")) {
 
 			/* set the driver to poll at i Hz */
 			ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[2], NULL, 0));
 
-			if (ret)
-				errx(ret,"pollrate could not be set");
+			if (ret) {
+				errx(ret, "pollrate could not be set");
+			}
 
 		} else if (argc == 3 && !strcmp(argv[1], "range")) {
 
 			/* set the range to i G */
 			ret = ioctl(fd, ACCELIOCSRANGE, strtoul(argv[2], NULL, 0));
 
-			if (ret)
-				errx(ret,"range could not be set");
+			if (ret) {
+				errx(ret, "range could not be set");
+			}
 
-		} else if(argc == 2 && !strcmp(argv[1], "check")) {
+		} else if (argc == 2 && !strcmp(argv[1], "check")) {
 			ret = ioctl(fd, ACCELIOCSELFTEST, 0);
 
 			if (ret) {
@@ -335,23 +353,25 @@ do_accel(int argc, char *argv[])
 
 				warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset, (double)scale.z_offset);
 				warnx("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale);
+
 			} else {
 				warnx("accel calibration and self test OK");
 			}
 
 		} else {
-			errx(1,"no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 4' to set measurement range to 4 G\n\t");
+			errx(1, "no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 4' to set measurement range to 4 G\n\t");
 		}
 
 		int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0);
 		int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
 		int range = ioctl(fd, ACCELIOCGRANGE, 0);
-		int id = ioctl(fd, DEVIOCGDEVICEID,0);
+		int id = ioctl(fd, DEVIOCGDEVICEID, 0);
 		int32_t calibration_id = 0;
 
 		param_get(param_find("CAL_ACC0_ID"), &(calibration_id));
 
-		warnx("accel: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d G", id, calibration_id, srate, prate, range);
+		warnx("accel: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d G",
+		      id, calibration_id, srate, prate, range);
 
 		close(fd);
 	}

src/systemcmds/esc_calib/esc_calib.c

@@ -71,8 +71,9 @@ __EXPORT int	esc_calib_main(int argc, char *argv[]);
 static void
 usage(const char *reason)
 {
-	if (reason != NULL)
+	if (reason != NULL) {
 		PX4_ERR("%s", reason);
+	}
 
 	PX4_ERR(
 		"usage:\n"
@@ -117,6 +118,7 @@ esc_calib_main(int argc, char *argv[])
 
 	int myoptind = 1;
 	const char *myoptarg = NULL;
+
 	while ((ch = px4_getopt(argc, argv, "d:c:m:al:h:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 
@@ -131,43 +133,54 @@ esc_calib_main(int argc, char *argv[])
 
 			while ((single_ch = channels % 10)) {
 
-				set_mask |= 1<<(single_ch-1);
+				set_mask |= 1 << (single_ch - 1);
 				channels /= 10;
 			}
+
 			break;
 
 		case 'm':
 			/* Read in mask directly */
 			set_mask = strtoul(myoptarg, &ep, 0);
+
 			if (*ep != '\0') {
 				usage("bad set_mask value");
 				return 1;
 			}
+
 			break;
 
 		case 'a':
+
 			/* Choose all channels */
-			for (unsigned i = 0; i<PWM_OUTPUT_MAX_CHANNELS; i++) {
-				set_mask |= 1<<i;
+			for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; i++) {
+				set_mask |= 1 << i;
 			}
+
 			break;
 
 		case 'l':
 			/* Read in custom low value */
 			pwm_low = strtoul(myoptarg, &ep, 0);
+
 			if (*ep != '\0' || pwm_low < PWM_LOWEST_MIN || pwm_low > PWM_HIGHEST_MIN) {
 				usage("low PWM invalid");
 				return 1;
 			}
+
 			break;
+
 		case 'h':
 			/* Read in custom high value */
 			pwm_high = strtoul(myoptarg, &ep, 0);
+
 			if (*ep != '\0' || pwm_high > PWM_HIGHEST_MAX || pwm_high < PWM_LOWEST_MAX) {
 				usage("high PWM invalid");
 				return 1;
 			}
+
 			break;
+
 		default:
 			usage(NULL);
 			return 1;
@@ -253,6 +266,7 @@ esc_calib_main(int argc, char *argv[])
 
 	/* get number of channels available on the device */
 	ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&max_channels);
+
 	if (ret != OK) {
 		PX4_ERR("PWM_SERVO_GET_COUNT");
 		return 1;
@@ -260,12 +274,15 @@ esc_calib_main(int argc, char *argv[])
 
 	/* tell IO/FMU that its ok to disable its safety with the switch */
 	ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
+
 	if (ret != OK) {
 		PX4_ERR("PWM_SERVO_SET_ARM_OK");
 		return 1;
 	}
+
 	/* tell IO/FMU that the system is armed (it will output values if safety is off) */
 	ret = ioctl(fd, PWM_SERVO_ARM, 0);
+
 	if (ret != OK) {
 		PX4_ERR("PWM_SERVO_ARM");
 		return 1;
@@ -285,11 +302,11 @@ esc_calib_main(int argc, char *argv[])
 		/* set max PWM */
 		for (unsigned i = 0; i < max_channels; i++) {
 
-			if (set_mask & 1<<i) {
+			if (set_mask & 1 << i) {
 				ret = ioctl(fd, PWM_SERVO_SET(i), pwm_high);
 
 				if (ret != OK) {
-					PX4_ERR( "PWM_SERVO_SET(%d), value: %d", i, pwm_high);
+					PX4_ERR("PWM_SERVO_SET(%d), value: %d", i, pwm_high);
 					goto cleanup;
 				}
 			}
@@ -322,7 +339,7 @@ esc_calib_main(int argc, char *argv[])
 
 		/* set disarmed PWM */
 		for (unsigned i = 0; i < max_channels; i++) {
-			if (set_mask & 1<<i) {
+			if (set_mask & 1 << i) {
 				ret = ioctl(fd, PWM_SERVO_SET(i), pwm_low);
 
 				if (ret != OK) {
@@ -352,6 +369,7 @@ esc_calib_main(int argc, char *argv[])
 
 	/* disarm */
 	ret = ioctl(fd, PWM_SERVO_DISARM, 0);
+
 	if (ret != OK) {
 		PX4_ERR("PWM_SERVO_DISARM");
 		goto cleanup;

src/systemcmds/i2c/i2c.c

@@ -75,21 +75,25 @@ int i2c_main(int argc, char *argv[])
 	/* find the right I2C */
 	i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
 
-	if (i2c == NULL)
+	if (i2c == NULL) {
 		errx(1, "failed to locate I2C bus");
+	}
 
 	usleep(100000);
 
 	uint8_t buf[] = { 0, 4};
 	int ret = transfer(PX4_I2C_OBDEV_PX4IO, buf, sizeof(buf), NULL, 0);
 
-	if (ret)
+	if (ret) {
 		errx(1, "send failed - %d", ret);
+	}
 
 	uint32_t val;
 	ret = transfer(PX4_I2C_OBDEV_PX4IO, NULL, 0, (uint8_t *)&val, sizeof(val));
-	if (ret)
+
+	if (ret) {
 		errx(1, "recive failed - %d", ret);
+	}
 
 	errx(0, "got 0x%08x", val);
 }
@@ -121,8 +125,9 @@ transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsig
 		msgs++;
 	}
 
-	if (msgs == 0)
+	if (msgs == 0) {
 		return -1;
+	}
 
 	/*
 	 * I2C architecture means there is an unavoidable race here
@@ -133,8 +138,9 @@ transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsig
 	ret = I2C_TRANSFER(i2c, &msgv[0], msgs);
 
 	// reset the I2C bus to unwedge on error
-	if (ret != OK)
+	if (ret != OK) {
 		up_i2creset(i2c);
+	}
 
 	return ret;
 }

src/systemcmds/mixer/mixer.cpp

@@ -76,22 +76,26 @@ mixer_main(int argc, char *argv[])
 		}
 
 		int ret = load(argv[2], argv[3]);
-		if(ret !=0) {
+
+		if (ret != 0) {
 			warnx("failed to load mixer");
 			return 1;
 		}
+
 	} else {
 		usage("Unknown command");
 		return 1;
 	}
+
 	return 0;
 }
 
 static void
 usage(const char *reason)
 {
-	if (reason)
+	if (reason) {
 		PX4_INFO("%s\n", reason);
+	}
 
 	PX4_INFO("usage:\n");
 	PX4_INFO("  mixer load <device> <filename>\n");
@@ -102,7 +106,7 @@ load(const char *devname, const char *fname)
 {
 	// sleep a while to ensure device has been set up
 	usleep(20000);
-	
+
 	int		dev;
 	char		buf[2048];
 
@@ -130,5 +134,6 @@ load(const char *devname, const char *fname)
 		warnx("error loading mixers from %s", fname);
 		return 1;
 	}
+
 	return 0;
 }

src/systemcmds/motor_test/motor_test.c

@@ -69,13 +69,14 @@ void motor_test(unsigned channel, float value)
 	_test_motor.timestamp = hrt_absolute_time();
 	_test_motor.value = value;
 
-    if (_test_motor_pub != nullptr) {
-    /* publish test state */
-        orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor);
-    } else {
-        /* advertise and publish */
-        _test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor);
-    }
+	if (_test_motor_pub != nullptr) {
+		/* publish test state */
+		orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor);
+
+	} else {
+		/* advertise and publish */
+		_test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor);
+	}
 }
 
 static void usage(const char *reason)
@@ -85,10 +86,10 @@ static void usage(const char *reason)
 	}
 
 	errx(1,
-		"usage:\n"
-		"motor_test\n"
-		"    -m <channel>            Motor to test (0..7)\n"
-		"    -p <power>              Power (0..100)\n");
+	     "usage:\n"
+	     "motor_test\n"
+	     "    -m <channel>            Motor to test (0..7)\n"
+	     "    -p <power>              Power (0..100)\n");
 }
 
 int motor_test_main(int argc, char *argv[])
@@ -114,11 +115,13 @@ int motor_test_main(int argc, char *argv[])
 			/* Read in power value */
 			lval = strtoul(optarg, NULL, 0);
 
-			if (lval > 100)
+			if (lval > 100) {
 				usage("value invalid");
+			}
 
-			value = ((float)lval)/100.f;
+			value = ((float)lval) / 100.f;
 			break;
+
 		default:
 			usage(NULL);
 		}

src/systemcmds/mtd/24xxxx_mtd.c

@@ -239,11 +239,13 @@ void at24c_test(void)
 
 	for (count = 0; count < 10000; count++) {
 		ssize_t result = at24c_bread(&g_at24c.mtd, 0, 1, buf);
+
 		if (result == ERROR) {
 			if (errors++ > 2) {
 				vdbg("too many errors\n");
 				return;
 			}
+
 		} else if (result != 1) {
 			vdbg("unexpected %u\n", result);
 		}
@@ -311,8 +313,9 @@ static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
 			ret = I2C_TRANSFER(priv->dev, &msgv[0], 2);
 			perf_end(priv->perf_transfers);
 
-			if (ret >= 0)
+			if (ret >= 0) {
 				break;
+			}
 
 			fvdbg("read stall");
 			usleep(1000);
@@ -396,8 +399,9 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t
 			ret = I2C_TRANSFER(priv->dev, &msgv[0], 1);
 			perf_end(priv->perf_transfers);
 
-			if (ret >= 0)
+			if (ret >= 0) {
 				break;
+			}
 
 			fvdbg("write stall");
 			usleep(1000);
@@ -503,7 +507,8 @@ static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg)
  *
  ************************************************************************************/
 
-FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev) {
+FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev)
+{
 	FAR struct at24c_dev_s *priv;
 
 	fvdbg("dev: %p\n", dev);

src/systemcmds/mtd/mtd.c

@@ -92,8 +92,8 @@ static void	mtd_erase(char *partition_names[], unsigned n_partitions);
 static void	mtd_readtest(char *partition_names[], unsigned n_partitions);
 static void	mtd_rwtest(char *partition_names[], unsigned n_partitions);
 static void	mtd_print_info(void);
-static int	mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks, 
-	unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions);
+static int	mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks,
+				 unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions);
 
 static bool attached = false;
 static bool started = false;
@@ -107,9 +107,10 @@ static const int n_partitions_default = sizeof(partition_names_default) / sizeof
 static void
 mtd_status(void)
 {
-	if (!attached)
+	if (!attached) {
 		errx(1, "MTD driver not started");
-    
+	}
+
 	mtd_print_info();
 	exit(0);
 }
@@ -122,40 +123,46 @@ int mtd_main(int argc, char *argv[])
 			/* start mapping according to user request */
 			if (argc >= 3) {
 				mtd_start(argv + 2, argc - 2);
+
 			} else {
 				mtd_start(partition_names_default, n_partitions_default);
 			}
 		}
 
-		if (!strcmp(argv[1], "test"))
+		if (!strcmp(argv[1], "test")) {
 			mtd_test();
+		}
 
 		if (!strcmp(argv[1], "readtest")) {
 			if (argc >= 3) {
 				mtd_readtest(argv + 2, argc - 2);
+
 			} else {
 				mtd_readtest(partition_names_default, n_partitions_default);
 			}
-                }
+		}
 
 		if (!strcmp(argv[1], "rwtest")) {
 			if (argc >= 3) {
 				mtd_rwtest(argv + 2, argc - 2);
+
 			} else {
 				mtd_rwtest(partition_names_default, n_partitions_default);
 			}
-                }
+		}
 
-		if (!strcmp(argv[1], "status"))
+		if (!strcmp(argv[1], "status")) {
 			mtd_status();
+		}
 
 		if (!strcmp(argv[1], "erase")) {
 			if (argc >= 3) {
 				mtd_erase(argv + 2, argc - 2);
+
 			} else {
 				mtd_erase(partition_names_default, n_partitions_default);
 			}
-                }
+		}
 	}
 
 	errx(1, "expected a command, try 'start', 'erase', 'status', 'readtest', 'rwtest' or 'test'");
@@ -163,7 +170,7 @@ int mtd_main(int argc, char *argv[])
 
 struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
 struct mtd_dev_s *mtd_partition(FAR struct mtd_dev_s *mtd,
-                                    off_t firstblock, off_t nblocks);
+				off_t firstblock, off_t nblocks);
 
 #ifdef CONFIG_MTD_RAMTRON
 static void
@@ -181,8 +188,9 @@ ramtron_attach(void)
 	SPI_SETMODE(spi, SPIDEV_MODE3);
 	SPI_SELECT(spi, SPIDEV_FLASH, false);
 
-	if (spi == NULL)
+	if (spi == NULL) {
 		errx(1, "failed to locate spi bus");
+	}
 
 	/* start the RAMTRON driver, attempt 5 times */
 	for (int i = 0; i < 5; i++) {
@@ -199,10 +207,12 @@ ramtron_attach(void)
 	}
 
 	/* if last attempt is still unsuccessful, abort */
-	if (mtd_dev == NULL)
+	if (mtd_dev == NULL) {
 		errx(1, "failed to initialize mtd driver");
+	}
+
+	int ret = mtd_dev->ioctl(mtd_dev, MTDIOC_SETSPEED, (unsigned long)10 * 1000 * 1000);
 
-	int ret = mtd_dev->ioctl(mtd_dev, MTDIOC_SETSPEED, (unsigned long)10*1000*1000);
 	if (ret != OK) {
 		// FIXME: From the previous warnx call, it looked like this should have been an errx instead. Tried
 		// that but setting the bug speed does fail all the time. Which was then exiting and the board would
@@ -222,24 +232,28 @@ at24xxx_attach(void)
 	/* this resets the I2C bus, set correct bus speed again */
 	I2C_SETFREQUENCY(i2c, 400000);
 
-	if (i2c == NULL)
+	if (i2c == NULL) {
 		errx(1, "failed to locate I2C bus");
+	}
 
 	/* start the MTD driver, attempt 5 times */
 	for (int i = 0; i < 5; i++) {
 		mtd_dev = at24c_initialize(i2c);
+
 		if (mtd_dev) {
 			/* abort on first valid result */
 			if (i > 0) {
-				warnx("warning: EEPROM needed %d attempts to attach", i+1);
+				warnx("warning: EEPROM needed %d attempts to attach", i + 1);
 			}
+
 			break;
 		}
 	}
 
 	/* if last attempt is still unsuccessful, abort */
-	if (mtd_dev == NULL)
+	if (mtd_dev == NULL) {
 		errx(1, "failed to initialize EEPROM driver");
+	}
 
 	attached = true;
 }
@@ -250,15 +264,16 @@ mtd_start(char *partition_names[], unsigned n_partitions)
 {
 	int ret;
 
-	if (started)
+	if (started) {
 		errx(1, "mtd already mounted");
+	}
 
 	if (!attached) {
-		#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 		at24xxx_attach();
-		#else
+#else
 		ramtron_attach();
-		#endif
+#endif
 	}
 
 	if (!mtd_dev) {
@@ -270,8 +285,10 @@ mtd_start(char *partition_names[], unsigned n_partitions)
 	unsigned blkpererase, nblocks, partsize;
 
 	ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize, n_partitions);
-	if (ret)
+
+	if (ret) {
 		exit(3);
+	}
 
 	/* Now create MTD FLASH partitions */
 
@@ -320,10 +337,10 @@ mtd_start(char *partition_names[], unsigned n_partitions)
 	exit(0);
 }
 
-int mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks, 
-	unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions)
+int mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks,
+		     unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions)
 {
-		/* Get the geometry of the FLASH device */
+	/* Get the geometry of the FLASH device */
 
 	FAR struct mtd_geometry_s geo;
 
@@ -358,24 +375,31 @@ static ssize_t mtd_get_partition_size(void)
 	unsigned long blocksize, erasesize, neraseblocks;
 	unsigned blkpererase, nblocks, partsize = 0;
 
-	int ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize, n_partitions_current);
+	int ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize,
+				   n_partitions_current);
+
 	if (ret != OK) {
 		errx(1, "Failed to get geometry");
 	}
+
 	return partsize;
 }
 
 void mtd_print_info(void)
 {
-	if (!attached)
+	if (!attached) {
 		exit(1);
+	}
 
 	unsigned long blocksize, erasesize, neraseblocks;
 	unsigned blkpererase, nblocks, partsize;
 
-	int ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize, n_partitions_current);
-	if (ret)
+	int ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize,
+				   n_partitions_current);
+
+	if (ret) {
 		exit(3);
+	}
 
 	warnx("Flash Geometry:");
 
@@ -400,19 +424,24 @@ mtd_erase(char *partition_names[], unsigned n_partitions)
 {
 	uint8_t v[64];
 	memset(v, 0xFF, sizeof(v));
+
 	for (uint8_t i = 0; i < n_partitions; i++) {
 		uint32_t count = 0;
 		printf("Erasing %s\n", partition_names[i]);
 		int fd = open(partition_names[i], O_WRONLY);
+
 		if (fd == -1) {
 			errx(1, "Failed to open partition");
 		}
+
 		while (write(fd, v, sizeof(v)) == sizeof(v)) {
 			count += sizeof(v);
 		}
+
 		printf("Erased %lu bytes\n", (unsigned long)count);
 		close(fd);
 	}
+
 	exit(0);
 }
 
@@ -427,21 +456,27 @@ mtd_readtest(char *partition_names[], unsigned n_partitions)
 	ssize_t expected_size = mtd_get_partition_size();
 
 	uint8_t v[128];
+
 	for (uint8_t i = 0; i < n_partitions; i++) {
 		ssize_t count = 0;
 		printf("reading %s expecting %u bytes\n", partition_names[i], expected_size);
 		int fd = open(partition_names[i], O_RDONLY);
+
 		if (fd == -1) {
 			errx(1, "Failed to open partition");
 		}
+
 		while (read(fd, v, sizeof(v)) == sizeof(v)) {
 			count += sizeof(v);
 		}
+
 		if (count != expected_size) {
-			errx(1,"Failed to read partition - got %u/%u bytes", count, expected_size);
+			errx(1, "Failed to read partition - got %u/%u bytes", count, expected_size);
 		}
+
 		close(fd);
 	}
+
 	printf("readtest OK\n");
 	exit(0);
 }
@@ -458,38 +493,50 @@ mtd_rwtest(char *partition_names[], unsigned n_partitions)
 	ssize_t expected_size = mtd_get_partition_size();
 
 	uint8_t v[128], v2[128];
+
 	for (uint8_t i = 0; i < n_partitions; i++) {
 		ssize_t count = 0;
-        off_t offset = 0;
+		off_t offset = 0;
 		printf("rwtest %s testing %u bytes\n", partition_names[i], expected_size);
 		int fd = open(partition_names[i], O_RDWR);
+
 		if (fd == -1) {
 			errx(1, "Failed to open partition");
 		}
+
 		while (read(fd, v, sizeof(v)) == sizeof(v)) {
 			count += sizeof(v);
-                        if (lseek(fd, offset, SEEK_SET) != offset) {
-                            errx(1, "seek failed");                            
-                        }
-                        if (write(fd, v, sizeof(v)) != sizeof(v)) {
-                            errx(1, "write failed");
-                        }
-                        if (lseek(fd, offset, SEEK_SET) != offset) {
-                            errx(1, "seek failed");                            
-                        }
-                        if (read(fd, v2, sizeof(v2)) != sizeof(v2)) {
-                            errx(1, "read failed");
-                        }
-                        if (memcmp(v, v2, sizeof(v2)) != 0) {
-                            errx(1, "memcmp failed");
-                        }
-                        offset += sizeof(v);
+
+			if (lseek(fd, offset, SEEK_SET) != offset) {
+				errx(1, "seek failed");
+			}
+
+			if (write(fd, v, sizeof(v)) != sizeof(v)) {
+				errx(1, "write failed");
+			}
+
+			if (lseek(fd, offset, SEEK_SET) != offset) {
+				errx(1, "seek failed");
+			}
+
+			if (read(fd, v2, sizeof(v2)) != sizeof(v2)) {
+				errx(1, "read failed");
+			}
+
+			if (memcmp(v, v2, sizeof(v2)) != 0) {
+				errx(1, "memcmp failed");
+			}
+
+			offset += sizeof(v);
 		}
+
 		if (count != expected_size) {
-			errx(1,"Failed to read partition - got %u/%u bytes", count, expected_size);
+			errx(1, "Failed to read partition - got %u/%u bytes", count, expected_size);
 		}
+
 		close(fd);
 	}
+
 	printf("rwtest OK\n");
 	exit(0);
 }

src/systemcmds/nshterm/nshterm.c

@@ -59,87 +59,92 @@ __EXPORT int nshterm_main(int argc, char *argv[]);
 int
 nshterm_main(int argc, char *argv[])
 {
-    if (argc < 2) {
-        printf("Usage: nshterm <device>\n");
-        exit(1);
-    }
-    unsigned retries = 0;
-    int fd = -1;
-    int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
-    struct actuator_armed_s armed;
-
-    /* back off 1800 ms to avoid running into the USB setup timing */
-    while (hrt_absolute_time() < 1800U * 1000U) {
-        usleep(50000);
-    }
-
-    /* try to bring up the console - stop doing so if the system gets armed */
-    while (true) {
-
-        /* abort if an arming topic is published and system is armed */
-        bool updated = false;
-        orb_check(armed_fd, &updated);
-        if (updated) {
-            /* the system is now providing arming status feedback.
-             * instead of timing out, we resort to abort bringing
-             * up the terminal.
-             */
-            orb_copy(ORB_ID(actuator_armed), armed_fd, &armed);
-
-            if (armed.armed) {
-                /* this is not an error, but we are done */
-                exit(0);
-            }
-        }
-
-        /* the retries are to cope with the behaviour of /dev/ttyACM0 */
-        /* which may not be ready immediately. */
-        fd = open(argv[1], O_RDWR);
-        if (fd != -1) {
-            close(armed_fd);
-            break;
-        }
-        usleep(100000);
-        retries++;
-    }
-    if (fd == -1) {
-        perror(argv[1]);
-        exit(1);
-    }
-
-    /* set up the serial port with output processing */
-    
-    /* Try to set baud rate */
-    struct termios uart_config;
-    int termios_state;
-
-    /* Back up the original uart configuration to restore it after exit */
-    if ((termios_state = tcgetattr(fd, &uart_config)) < 0) {
-        warnx("ERR get config %s: %d\n", argv[1], termios_state);
-        close(fd);
-        return -1;
-    }
-
-    /* Set ONLCR flag (which appends a CR for every LF) */
-    uart_config.c_oflag |= (ONLCR | OPOST);
-
-    if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
-        warnx("ERR set config %s\n", argv[1]);
-        close(fd);
-        return -1;
-    }
-
-    /* setup standard file descriptors */
-    close(0);
-    close(1);
-    close(2);
-    dup2(fd, 0);
-    dup2(fd, 1);
-    dup2(fd, 2);
-
-    nsh_consolemain(0, NULL);
-
-    close(fd);
-
-    return OK;
+	if (argc < 2) {
+		printf("Usage: nshterm <device>\n");
+		exit(1);
+	}
+
+	unsigned retries = 0;
+	int fd = -1;
+	int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
+	struct actuator_armed_s armed;
+
+	/* back off 1800 ms to avoid running into the USB setup timing */
+	while (hrt_absolute_time() < 1800U * 1000U) {
+		usleep(50000);
+	}
+
+	/* try to bring up the console - stop doing so if the system gets armed */
+	while (true) {
+
+		/* abort if an arming topic is published and system is armed */
+		bool updated = false;
+		orb_check(armed_fd, &updated);
+
+		if (updated) {
+			/* the system is now providing arming status feedback.
+			 * instead of timing out, we resort to abort bringing
+			 * up the terminal.
+			 */
+			orb_copy(ORB_ID(actuator_armed), armed_fd, &armed);
+
+			if (armed.armed) {
+				/* this is not an error, but we are done */
+				exit(0);
+			}
+		}
+
+		/* the retries are to cope with the behaviour of /dev/ttyACM0 */
+		/* which may not be ready immediately. */
+		fd = open(argv[1], O_RDWR);
+
+		if (fd != -1) {
+			close(armed_fd);
+			break;
+		}
+
+		usleep(100000);
+		retries++;
+	}
+
+	if (fd == -1) {
+		perror(argv[1]);
+		exit(1);
+	}
+
+	/* set up the serial port with output processing */
+
+	/* Try to set baud rate */
+	struct termios uart_config;
+	int termios_state;
+
+	/* Back up the original uart configuration to restore it after exit */
+	if ((termios_state = tcgetattr(fd, &uart_config)) < 0) {
+		warnx("ERR get config %s: %d\n", argv[1], termios_state);
+		close(fd);
+		return -1;
+	}
+
+	/* Set ONLCR flag (which appends a CR for every LF) */
+	uart_config.c_oflag |= (ONLCR | OPOST);
+
+	if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
+		warnx("ERR set config %s\n", argv[1]);
+		close(fd);
+		return -1;
+	}
+
+	/* setup standard file descriptors */
+	close(0);
+	close(1);
+	close(2);
+	dup2(fd, 0);
+	dup2(fd, 1);
+	dup2(fd, 2);
+
+	nsh_consolemain(0, NULL);
+
+	close(fd);
+
+	return OK;
 }

src/systemcmds/param/param.c

@@ -191,6 +191,7 @@ param_main(int argc, char *argv[])
 		if (!strcmp(argv[1], "index_used")) {
 			if (argc >= 3) {
 				return do_show_index(argv[2], true);
+
 			} else {
 				warnx("no index provided");
 				return 1;
@@ -200,6 +201,7 @@ param_main(int argc, char *argv[])
 		if (!strcmp(argv[1], "index")) {
 			if (argc >= 3) {
 				return do_show_index(argv[2], false);
+
 			} else {
 				warnx("no index provided");
 				return 1;
@@ -299,6 +301,7 @@ do_show_index(const char *index, bool used_index)
 
 	if (used_index) {
 		param = param_for_used_index(i);
+
 	} else {
 		param = param_for_index(i);
 	}
@@ -326,6 +329,7 @@ do_show_index(const char *index, bool used_index)
 		}
 
 		break;
+
 	default:
 		printf("<unknown type %d>\n", 0 + param_type(param));
 	}
@@ -537,7 +541,7 @@ do_compare(const char *name, char *vals[], unsigned comparisons, enum COMPARE_OP
 
 				float g = strtod(vals[k], &end);
 
-				if (((cmp_op == COMPARE_OPERATOR_EQUAL) && (fabsf(f - g) < 1e-7f)) || 
+				if (((cmp_op == COMPARE_OPERATOR_EQUAL) && (fabsf(f - g) < 1e-7f)) ||
 				    ((cmp_op == COMPARE_OPERATOR_GREATER) && (f > g))) {
 					printf(" %4.4f: ", (double)f);
 					ret = 0;
@@ -575,6 +579,7 @@ do_reset(const char *excludes[], int num_excludes)
 		warnx("Param export failed.");
 		return 1;
 	}
+
 	return 0;
 }
 
@@ -602,5 +607,6 @@ do_reset_nostart(const char *excludes[], int num_excludes)
 		return 1;
 
 	}
+
 	return 0;
 }

src/systemcmds/pwm/pwm.c

@@ -187,8 +187,7 @@ pwm_main(int argc, char *argv[])
 
 			break;
 
-		case 'p':
-			{
+		case 'p': {
 				/* check if this is a param name */
 				if (strncmp("p:", optarg, 2) == 0) {
 
@@ -203,12 +202,15 @@ pwm_main(int argc, char *argv[])
 
 						if (gret == 0) {
 							pwm_value = pwm_parm;
+
 						} else {
 							usage("PARAM LOAD FAIL");
 						}
+
 					} else {
 						usage("PARAM NAME NOT FOUND");
 					}
+
 				} else {
 
 					pwm_value = strtoul(optarg, &ep, 0);

src/systemcmds/reboot/reboot.c

@@ -52,6 +52,7 @@ int reboot_main(int argc, char *argv[])
 
 	int myoptind = 1;
 	const char *myoptarg = NULL;
+
 	while ((ch = px4_getopt(argc, argv, "b", &myoptind, &myoptarg)) != -1) {
 		switch (ch) {
 		case 'b':
@@ -60,7 +61,7 @@ int reboot_main(int argc, char *argv[])
 
 		default:
 			PX4_ERR("usage: reboot [-b]\n"
-			     "   -b   reboot into the bootloader");
+				"   -b   reboot into the bootloader");
 
 		}
 	}

src/systemcmds/reflect/reflect.c

@@ -54,7 +54,7 @@ __EXPORT int reflect_main(int argc, char *argv[]);
 #define MAX_BLOCKS 1000
 static uint32_t nblocks;
 struct block {
-    uint32_t v[256];
+	uint32_t v[256];
 };
 static struct block *blocks[MAX_BLOCKS];
 
@@ -62,50 +62,59 @@ static struct block *blocks[MAX_BLOCKS];
 
 static void allocate_blocks(void)
 {
-    while (nblocks < MAX_BLOCKS) {
-        blocks[nblocks] = calloc(1, sizeof(struct block));
-        if (blocks[nblocks] == NULL) {
-            break;
-        }
-        for (uint32_t i=0; i<sizeof(blocks[nblocks]->v)/sizeof(uint32_t); i++) {
-            blocks[nblocks]->v[i] = VALUE(i);
-        }
-        nblocks++;
-    }
-    printf("Allocated %u blocks\n", nblocks);
+	while (nblocks < MAX_BLOCKS) {
+		blocks[nblocks] = calloc(1, sizeof(struct block));
+
+		if (blocks[nblocks] == NULL) {
+			break;
+		}
+
+		for (uint32_t i = 0; i < sizeof(blocks[nblocks]->v) / sizeof(uint32_t); i++) {
+			blocks[nblocks]->v[i] = VALUE(i);
+		}
+
+		nblocks++;
+	}
+
+	printf("Allocated %u blocks\n", nblocks);
 }
 
 static void check_blocks(void)
 {
-    for (uint32_t n=0; n<nblocks; n++) {
-        for (uint32_t i=0; i<sizeof(blocks[nblocks]->v)/sizeof(uint32_t); i++) {
-            assert(blocks[n]->v[i] == VALUE(i));
-        }
-    }
+	for (uint32_t n = 0; n < nblocks; n++) {
+		for (uint32_t i = 0; i < sizeof(blocks[nblocks]->v) / sizeof(uint32_t); i++) {
+			assert(blocks[n]->v[i] == VALUE(i));
+		}
+	}
 }
 
 int
 reflect_main(int argc, char *argv[])
 {
-    uint32_t total = 0;
-    printf("Starting reflector\n");
-
-    allocate_blocks();
-
-    while (true) {
-        char buf[128];
-        ssize_t n = read(0, buf, sizeof(buf));
-        if (n < 0) {
-            break;
-        }
-        if (n > 0) {
-            write(1, buf, n);
-        }
-        total += n;
-        if (total > 1024000) {
-            check_blocks();
-            total = 0;
-        }
-    }
-    return OK;
+	uint32_t total = 0;
+	printf("Starting reflector\n");
+
+	allocate_blocks();
+
+	while (true) {
+		char buf[128];
+		ssize_t n = read(0, buf, sizeof(buf));
+
+		if (n < 0) {
+			break;
+		}
+
+		if (n > 0) {
+			write(1, buf, n);
+		}
+
+		total += n;
+
+		if (total > 1024000) {
+			check_blocks();
+			total = 0;
+		}
+	}
+
+	return OK;
 }

src/systemcmds/tests/test_bson.c

@@ -39,7 +39,7 @@
 
 #define __STDC_FORMAT_MACROS
 #include <inttypes.h>
- 
+
 #include <px4_defines.h>
 #include <stdio.h>
 #include <string.h>
@@ -111,8 +111,8 @@ decode_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 
 		if (node->b != sample_bool) {
 			PX4_ERR("FAIL: decoder: bool1 value %s, expected %s",
-			      (node->b ? "true" : "false"),
-			      (sample_bool ? "true" : "false"));
+				(node->b ? "true" : "false"),
+				(sample_bool ? "true" : "false"));
 			return 1;
 		}
 

src/systemcmds/tests/test_conv.cpp

@@ -67,7 +67,7 @@ int test_conv(int argc, char *argv[])
 
 		if (fabsf(f - fres) > 0.0001f) {
 			PX4_ERR("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", (double)f, REG_TO_SIGNED(FLOAT_TO_REG(f)),
-			      (double)fres);
+				(double)fres);
 			return 1;
 		}
 	}

src/systemcmds/tests/test_eigen.cpp

@@ -89,9 +89,9 @@ uint8_t err_num;
 
 #define EXPECT_QUATERNION(q_exp, q_act, epsilon)	\
 	(fabsf(q_exp.x() - q_act.x()) <= epsilon &&			\
-	fabsf(q_exp.y() - q_act.y()) <= epsilon && 			\
-	fabsf(q_exp.z() - q_act.z()) <= epsilon &&			\
-	fabsf(q_exp.w() - q_act.w()) <= epsilon)
+	 fabsf(q_exp.y() - q_act.y()) <= epsilon && 			\
+	 fabsf(q_exp.z() - q_act.z()) <= epsilon &&			\
+	 fabsf(q_exp.w() - q_act.w()) <= epsilon)
 
 #define EXPECT_NEAR(expected, actual, epsilon)		\
 	(fabsf(expected - actual) <= epsilon)
@@ -130,12 +130,13 @@ math::Quaternion px4qFromEigenq(const Eigen::Quaternionf &q);
  *	Construct new Eigen::Quaternion from euler angles
  *	Right order is YPR.
  **/
-Eigen::Quaternionf quatFromEuler(const Eigen::Vector3f &rpy){
+Eigen::Quaternionf quatFromEuler(const Eigen::Vector3f &rpy)
+{
 	return Eigen::Quaternionf(
-		Eigen::AngleAxisf(rpy.z(), Eigen::Vector3f::UnitZ()) *
-		Eigen::AngleAxisf(rpy.y(), Eigen::Vector3f::UnitY()) *
-		Eigen::AngleAxisf(rpy.x(), Eigen::Vector3f::UnitX())
-		);
+		       Eigen::AngleAxisf(rpy.z(), Eigen::Vector3f::UnitZ()) *
+		       Eigen::AngleAxisf(rpy.y(), Eigen::Vector3f::UnitY()) *
+		       Eigen::AngleAxisf(rpy.x(), Eigen::Vector3f::UnitX())
+	       );
 }
 
 /**
@@ -143,7 +144,8 @@ Eigen::Quaternionf quatFromEuler(const Eigen::Vector3f &rpy){
  *	Construct new Eigen::Vector3f of euler angles from quaternion
  *	Right order is YPR.
  **/
-Eigen::Vector3f eulerFromQuat(const Eigen::Quaternionf &q){
+Eigen::Vector3f eulerFromQuat(const Eigen::Quaternionf &q)
+{
 	return q.toRotationMatrix().eulerAngles(2, 1, 0).reverse();
 }
 
@@ -151,7 +153,8 @@ Eigen::Vector3f eulerFromQuat(const Eigen::Quaternionf &q){
  * @brief
  *	Construct new Eigen::Matrix3f from euler angles
  **/
-Eigen::Matrix3f matrixFromEuler(const Eigen::Vector3f &rpy){
+Eigen::Matrix3f matrixFromEuler(const Eigen::Vector3f &rpy)
+{
 	return quatFromEuler(rpy).toRotationMatrix();
 }
 
@@ -159,7 +162,8 @@ Eigen::Matrix3f matrixFromEuler(const Eigen::Vector3f &rpy){
  * @brief
  *	Adjust PX4 math::quaternion to Eigen::Quaternionf
  **/
-Eigen::Quaternionf eigenqFromPx4q(const math::Quaternion &q){
+Eigen::Quaternionf eigenqFromPx4q(const math::Quaternion &q)
+{
 	return Eigen::Quaternionf(q.data[1], q.data[2], q.data[3], q.data[0]);
 }
 
@@ -167,7 +171,8 @@ Eigen::Quaternionf eigenqFromPx4q(const math::Quaternion &q){
  * @brief
  *	Adjust Eigen::Quaternionf to PX4 math::quaternion
  **/
-math::Quaternion px4qFromEigenq(const Eigen::Quaternionf &q){
+math::Quaternion px4qFromEigenq(const Eigen::Quaternionf &q)
+{
 	return math::Quaternion(q.w(), q.x(), q.y(), q.z());
 }
 
@@ -175,7 +180,8 @@ math::Quaternion px4qFromEigenq(const Eigen::Quaternionf &q){
  * @brief
  *	Testing main routine
  **/
-int test_eigen(int argc, char *argv[]) {
+int test_eigen(int argc, char *argv[])
+{
 	int rc = 0;
 	warnx("Testing Eigen math...");
 
@@ -285,7 +291,7 @@ int test_eigen(int argc, char *argv[]) {
 
 		const Eigen::Matrix<float, 2, 3> m1_orig =
 			(Eigen::Matrix<float, 2, 3>() << 1, 2, 3,
-			4, 5, 6).finished();
+			 4, 5, 6).finished();
 
 		Eigen::Matrix<float, 2, 3> m1(m1_orig);
 
@@ -362,6 +368,7 @@ int test_eigen(int argc, char *argv[]) {
 			++err_num;
 			rc = 1;
 		}
+
 		/********************************************************************************************************/
 		/******************************************** TEST 2 ****************************************************/
 		q_true = {1.0f, 0.0f, 0.0f, 0.0f};
@@ -376,6 +383,7 @@ int test_eigen(int argc, char *argv[]) {
 			++err_num;
 			rc = 1;
 		}
+
 		/********************************************************************************************************/
 		/******************************************** TEST 3 ****************************************************/
 		q_true = quatFromEuler(Eigen::Vector3f(0.3f, 0.2f, 0.1f));
@@ -388,6 +396,7 @@ int test_eigen(int argc, char *argv[]) {
 			++err_num;
 			rc = 1;
 		}
+
 		/********************************************************************************************************/
 		/******************************************** TEST 4 ****************************************************/
 		q_true = quatFromEuler(Eigen::Vector3f(-1.5f, -0.2f, 0.5f));
@@ -400,6 +409,7 @@ int test_eigen(int argc, char *argv[]) {
 			++err_num;
 			rc = 1;
 		}
+
 		/********************************************************************************************************/
 		/******************************************** TEST 5 ****************************************************/
 		q_true = quatFromEuler(Eigen::Vector3f(M_PI_2_F, -M_PI_2_F, -M_PI_F / 3));
@@ -407,13 +417,15 @@ int test_eigen(int argc, char *argv[]) {
 
 		for (size_t i = 0; i < 4; i++) {
 			if (!EXPECT_QUATERNION(q_true, q, FLT_EPSILON)) {
-				printf("%llu: It[%d]: Value of: Quaternion [0.6830, 0.1830, -0.6830, 0.1830]\n", (unsigned long long)hrt_absolute_time(), (int)i);
+				printf("%llu: It[%d]: Value of: Quaternion [0.6830, 0.1830, -0.6830, 0.1830]\n",
+				       (unsigned long long)hrt_absolute_time(), (int)i);
 				printf("Actual:  \t[%8.5f, %8.5f, %8.5f, %8.5f]\n", q.w(), q.x(), q.y(), q.z());
 				printf("Expected: \t[%8.5f, %8.5f, %8.5f, %8.5f]\n", q_true.w(), q_true.x(), q_true.y(), q_true.z());
 				++err_num;
 				rc = 1;
 			}
 		}
+
 		/********************************************************************************************************/
 		/******************************************** TEST 6 ****************************************************/
 		printf("%llu: Conversion method: Testing transformation range...\n", (unsigned long long)hrt_absolute_time());
@@ -430,7 +442,8 @@ int test_eigen(int argc, char *argv[]) {
 					for (size_t i = 0; i < 3; i++) {
 						for (size_t j = 0; j < 3; j++) {
 							if (!EXPECT_NEAR(R_orig(i, j), R(i, j), epsilon_f)) {
-								printf("%llu: (%d, %d) Value of: Quaternion constructor or 'toRotationMatrix'\n", (unsigned long long)hrt_absolute_time(), (int)i, (int)j);
+								printf("%llu: (%d, %d) Value of: Quaternion constructor or 'toRotationMatrix'\n",
+								       (unsigned long long)hrt_absolute_time(), (int)i, (int)j);
 								printf("Actual:  \t%8.5f\n", R(i, j));
 								printf("Expected: \t%8.5f\n", R_orig(i, j));
 								++err_num;
@@ -457,7 +470,7 @@ int test_eigen(int argc, char *argv[]) {
 		/******************************************** TEST 1 ****************************************************/
 		q = quatFromEuler(Eigen::Vector3f(0.0f, 0.0f, M_PI_2_F));
 		vector_q = q._transformVector(vector);
-		Eigen::Vector3f vector_true = {-1.00f, 1.00f, 1.00f};
+		Eigen::Vector3f vector_true = { -1.00f, 1.00f, 1.00f};
 
 		for (size_t i = 0; i < 3; i++) {
 			if (!EXPECT_NEAR(vector_true(i), vector_q(i), FLT_EPSILON)) {
@@ -468,6 +481,7 @@ int test_eigen(int argc, char *argv[]) {
 				rc = 1;
 			}
 		}
+
 		/********************************************************************************************************/
 		/******************************************** TEST 2 ****************************************************/
 		q = quatFromEuler(Eigen::Vector3f(0.1f, 0.2f, 0.3f));
@@ -483,6 +497,7 @@ int test_eigen(int argc, char *argv[]) {
 				rc = 1;
 			}
 		}
+
 		/********************************************************************************************************/
 		/******************************************** TEST 3 ****************************************************/
 		q = quatFromEuler(Eigen::Vector3f(0.5f, -0.2f, -1.5f));
@@ -498,11 +513,12 @@ int test_eigen(int argc, char *argv[]) {
 				rc = 1;
 			}
 		}
+
 		/********************************************************************************************************/
 		/******************************************** TEST 4 ****************************************************/
 		q = quatFromEuler(Eigen::Vector3f(-M_PI_F / 3.0f, -M_PI_2_F, M_PI_2_F));
 		vector_q = q._transformVector(vector);
-		vector_true = {-1.366030f, 0.366025f, 1.000000f};
+		vector_true = { -1.366030f, 0.366025f, 1.000000f};
 
 		for (size_t i = 0; i < 3; i++) {
 			if (!EXPECT_NEAR(vector_true(i), vector_q(i), epsilon_f)) {
@@ -513,6 +529,7 @@ int test_eigen(int argc, char *argv[]) {
 				rc = 1;
 			}
 		}
+
 		/********************************************************************************************************/
 		/******************************************** TEST 5 ****************************************************/
 		printf("%llu: Rotation method: Testing transformation range...\n", (unsigned long long)hrt_absolute_time());

src/systemcmds/tests/test_file2.c

@@ -176,6 +176,7 @@ int test_file2(int argc, char *argv[])
 
 	int myoptind = 1;
 	const char *myoptarg = NULL;
+
 	while ((opt = px4_getopt(argc, argv, "c:s:FLh", &myoptind, &myoptarg)) != EOF) {
 		switch (opt) {
 		case 'F':

src/systemcmds/tests/test_hott_telemetry.c

@@ -195,7 +195,7 @@ int test_hott_telemetry(int argc, char *argv[])
 
 		} else {
 			PX4_WARN("WARN: Received %d out of %d byte pairs of which %d were valid from the HoTT receiver device.", received_count,
-			      max_polls, valid_count);
+				 max_polls, valid_count);
 		}
 
 	} else {

src/systemcmds/tests/test_mixer.cpp

@@ -204,7 +204,7 @@ int test_mixer(int argc, char *argv[])
 	mixed = mixer_group.mix(&outputs[0], output_max, NULL);
 
 	pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
-		r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
+		       r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
 
 	//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
 	for (unsigned i = 0; i < mixed; i++) {
@@ -216,6 +216,7 @@ int test_mixer(int argc, char *argv[])
 				warnx("active servo < min");
 				return 1;
 			}
+
 		} else {
 			if (r_page_servos[i] != r_page_servo_disarmed[i]) {
 				warnx("throttle output != 0 (this check assumed the IO pass mixer!)");
@@ -244,7 +245,7 @@ int test_mixer(int argc, char *argv[])
 		mixed = mixer_group.mix(&outputs[0], output_max, NULL);
 
 		pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
-			r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
+			       r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
 
 		//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
 		for (unsigned i = 0; i < mixed; i++) {
@@ -287,7 +288,8 @@ int test_mixer(int argc, char *argv[])
 		/* mix */
 		mixed = mixer_group.mix(&outputs[0], output_max, NULL);
 
-		pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs,
+		pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
+			       r_page_servo_control_max, outputs,
 			       r_page_servos, &pwm_limit);
 
 		PX4_INFO("mixed %d outputs (max %d)", mixed, output_max);
@@ -314,7 +316,8 @@ int test_mixer(int argc, char *argv[])
 		/* mix */
 		mixed = mixer_group.mix(&outputs[0], output_max, NULL);
 
-		pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs,
+		pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
+			       r_page_servo_control_max, outputs,
 			       r_page_servos, &pwm_limit);
 
 		//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
@@ -351,7 +354,8 @@ int test_mixer(int argc, char *argv[])
 		/* mix */
 		mixed = mixer_group.mix(&outputs[0], output_max, NULL);
 
-		pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs,
+		pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
+			       r_page_servo_control_max, outputs,
 			       r_page_servos, &pwm_limit);
 
 		//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
@@ -435,7 +439,7 @@ mixer_callback(uintptr_t handle,
 	control = actuator_controls[control_index];
 
 	if (should_prearm && control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
-		control_index == actuator_controls_s::INDEX_THROTTLE) {
+	    control_index == actuator_controls_s::INDEX_THROTTLE) {
 		control = NAN_VALUE;
 	}
 

src/systemcmds/tests/test_mount.c

@@ -132,7 +132,7 @@ test_mount(int argc, char *argv[])
 		}
 
 		PX4_INFO("Iterations left: #%d / #%d of %d / %d\n(%s)", it_left_fsync, it_left_abort,
-		      fsync_tries, abort_tries, buf);
+			 fsync_tries, abort_tries, buf);
 
 		int it_left_fsync_prev = it_left_fsync;
 

src/systemcmds/tests/test_uart_baudchange.c

@@ -165,5 +165,5 @@ int test_uart_baudchange(int argc, char *argv[])
 cleanup:
 	close(uart2);
 	return ret;
-	
+
 }

src/systemcmds/ver/ver.c

@@ -58,7 +58,7 @@ static const char sz_ver_all_str[] 	= "all";
 static const char mcu_ver_str[]		= "mcu";
 static const char mcu_uid_str[]		= "uid";
 
-const char* px4_git_version = PX4_GIT_VERSION_STR;
+const char *px4_git_version = PX4_GIT_VERSION_STR;
 const uint64_t px4_git_version_binary = PX4_GIT_VERSION_BINARY;
 
 static void usage(const char *reason)
@@ -89,6 +89,7 @@ int ver_main(int argc, char *argv[])
 					if (ret == 0) {
 						printf("ver hwcmp match: %s\n", HW_ARCH);
 					}
+
 					return ret;
 
 				} else {
@@ -127,7 +128,7 @@ int ver_main(int argc, char *argv[])
 			if (show_all || !strncmp(argv[1], mcu_ver_str, sizeof(mcu_ver_str))) {
 
 				char rev;
-				char* revstr;
+				char *revstr;
 
 				int chip_version = mcu_version(&rev, &revstr);
 
@@ -139,9 +140,9 @@ int ver_main(int argc, char *argv[])
 
 					if (chip_version < MCU_REV_STM32F4_REV_3) {
 						printf("\nWARNING   WARNING   WARNING!\n"
-							"Revision %c has a silicon errata\n"
-							"This device can only utilize a maximum of 1MB flash safely!\n"
-							"http://px4.io/help/errata\n\n", rev);
+						       "Revision %c has a silicon errata\n"
+						       "This device can only utilize a maximum of 1MB flash safely!\n"
+						       "http://px4.io/help/errata\n\n", rev);
 					}
 				}
 
@@ -153,7 +154,7 @@ int ver_main(int argc, char *argv[])
 
 				mcu_unique_id(uid);
 
-				printf("UID: %X:%X:%X \n",uid[0],uid[1],uid[2]);
+				printf("UID: %X:%X:%X \n", uid[0], uid[1], uid[2]);
 
 				ret = 0;
 			}