mavlink_receiver.cpp: fix coding style

src/modules/mavlink/mavlink_receiver.cpp

@@ -273,7 +273,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 	}
 
 
-   	if (_mavlink->get_hil_enabled() || (_mavlink->get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) {
+	if (_mavlink->get_hil_enabled() || (_mavlink->get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) {
 		switch (msg->msgid) {
 		case MAVLINK_MSG_ID_HIL_GPS:
 			handle_message_hil_gps(msg);
@@ -285,7 +285,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 
 	}
 
-    /* If we've received a valid message, mark the flag indicating so.
+	/* If we've received a valid message, mark the flag indicating so.
 	   This is used in the '-w' command-line flag. */
 	_mavlink->set_has_received_messages(true);
 }
@@ -295,17 +295,18 @@ MavlinkReceiver::evaluate_target_ok(int command, int target_system, int target_c
 {
 	/* evaluate if this system should accept this command */
 	bool target_ok = false;
+
 	switch (command) {
 
-		case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES:
-			/* broadcast and ignore component */
-			target_ok = (target_system == 0) || (target_system == mavlink_system.sysid);
-			break;
+	case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES:
+		/* broadcast and ignore component */
+		target_ok = (target_system == 0) || (target_system == mavlink_system.sysid);
+		break;
 
-		default:
-			target_ok = (target_system == mavlink_system.sysid) && ((target_component == mavlink_system.compid)
-			|| (target_component == MAV_COMP_ID_ALL));
-			break;
+	default:
+		target_ok = (target_system == mavlink_system.sysid) && ((target_component == mavlink_system.compid)
+				|| (target_component == MAV_COMP_ID_ALL));
+		break;
 	}
 
 	return target_ok;
@@ -330,6 +331,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 
 			/* terminate other threads and this thread */
 			_mavlink->_task_should_exit = true;
+
 		} else if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
 			/* send autopilot version message */
 			_mavlink->send_autopilot_capabilites();
@@ -346,22 +348,35 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 			}
 
 			struct vehicle_command_s vcmd;
+
 			memset(&vcmd, 0, sizeof(vcmd));
 
 			/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
 			vcmd.param1 = cmd_mavlink.param1;
+
 			vcmd.param2 = cmd_mavlink.param2;
+
 			vcmd.param3 = cmd_mavlink.param3;
+
 			vcmd.param4 = cmd_mavlink.param4;
+
 			vcmd.param5 = cmd_mavlink.param5;
+
 			vcmd.param6 = cmd_mavlink.param6;
+
 			vcmd.param7 = cmd_mavlink.param7;
+
 			// XXX do proper translation
 			vcmd.command = cmd_mavlink.command;
+
 			vcmd.target_system = cmd_mavlink.target_system;
+
 			vcmd.target_component = cmd_mavlink.target_component;
+
 			vcmd.source_system = msg->sysid;
+
 			vcmd.source_component = msg->compid;
+
 			vcmd.confirmation =  cmd_mavlink.confirmation;
 
 			if (_cmd_pub == nullptr) {
@@ -410,22 +425,34 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
 			}
 
 			struct vehicle_command_s vcmd;
+
 			memset(&vcmd, 0, sizeof(vcmd));
 
 			/* Copy the content of mavlink_command_int_t cmd_mavlink into command_t cmd */
 			vcmd.param1 = cmd_mavlink.param1;
+
 			vcmd.param2 = cmd_mavlink.param2;
+
 			vcmd.param3 = cmd_mavlink.param3;
+
 			vcmd.param4 = cmd_mavlink.param4;
+
 			/* these are coordinates as 1e7 scaled integers to work around the 32 bit floating point limits */
 			vcmd.param5 = ((double)cmd_mavlink.x) / 1e7;
+
 			vcmd.param6 = ((double)cmd_mavlink.y) / 1e7;
+
 			vcmd.param7 = cmd_mavlink.z;
+
 			// XXX do proper translation
 			vcmd.command = cmd_mavlink.command;
+
 			vcmd.target_system = cmd_mavlink.target_system;
+
 			vcmd.target_component = cmd_mavlink.target_component;
+
 			vcmd.source_system = msg->sysid;
+
 			vcmd.source_component = msg->compid;
 
 			if (_cmd_pub == nullptr) {
@@ -446,7 +473,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 	mavlink_msg_optical_flow_rad_decode(msg, &flow);
 
 	enum Rotation flow_rot;
-	param_get(param_find("SENS_FLOW_ROT"),&flow_rot);
+	param_get(param_find("SENS_FLOW_ROT"), &flow_rot);
 
 	struct optical_flow_s f;
 	memset(&f, 0, sizeof(f));
@@ -477,10 +504,9 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 	}
 
 	/* Use distance value for distance sensor topic */
-	struct distance_sensor_s d;
-	memset(&d, 0, sizeof(d));
+	struct distance_sensor_s d = {};
 
-	if(flow.distance > 0.0f) { // negative values signal invalid data
+	if (flow.distance > 0.0f) { // negative values signal invalid data
 		d.timestamp = flow.integration_time_us * 1000; /* ms to us */
 		d.min_distance = 0.3f;
 		d.max_distance = 5.0f;
@@ -492,7 +518,8 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 
 		if (_flow_distance_sensor_pub == nullptr) {
 			_flow_distance_sensor_pub = orb_advertise_multi(ORB_ID(distance_sensor), &d,
-			&_orb_class_instance, ORB_PRIO_HIGH);
+						   &_orb_class_instance, ORB_PRIO_HIGH);
+
 		} else {
 			orb_publish(ORB_ID(distance_sensor), _flow_distance_sensor_pub, &d);
 		}
@@ -544,7 +571,8 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
 
 	if (_hil_distance_sensor_pub == nullptr) {
 		_hil_distance_sensor_pub = orb_advertise_multi(ORB_ID(distance_sensor), &d,
-								     &_orb_class_instance, ORB_PRIO_HIGH);
+					   &_orb_class_instance, ORB_PRIO_HIGH);
+
 	} else {
 		orb_publish(ORB_ID(distance_sensor), _hil_distance_sensor_pub, &d);
 	}
@@ -607,7 +635,7 @@ MavlinkReceiver::handle_message_distance_sensor(mavlink_message_t *msg)
 
 	if (_distance_sensor_pub == nullptr) {
 		_distance_sensor_pub = orb_advertise_multi(ORB_ID(distance_sensor), &d,
-								     &_orb_class_instance, ORB_PRIO_HIGH);
+				       &_orb_class_instance, ORB_PRIO_HIGH);
 
 	} else {
 		orb_publish(ORB_ID(distance_sensor), _distance_sensor_pub, &d);
@@ -669,10 +697,10 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 
 	/* Only accept messages which are intended for this system */
 	if ((mavlink_system.sysid == set_position_target_local_ned.target_system ||
-				set_position_target_local_ned.target_system == 0) &&
-			(mavlink_system.compid == set_position_target_local_ned.target_component ||
-				set_position_target_local_ned.target_component == 0) &&
-			values_finite) {
+	     set_position_target_local_ned.target_system == 0) &&
+	    (mavlink_system.compid == set_position_target_local_ned.target_component ||
+	     set_position_target_local_ned.target_component == 0) &&
+	    values_finite) {
 
 		/* convert mavlink type (local, NED) to uORB offboard control struct */
 		offboard_control_mode.ignore_position = (bool)(set_position_target_local_ned.type_mask & 0x7);
@@ -704,24 +732,29 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 		if (_mavlink->get_forward_externalsp()) {
 			bool updated;
 			orb_check(_control_mode_sub, &updated);
+
 			if (updated) {
 				orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
 			}
+
 			if (_control_mode.flag_control_offboard_enabled) {
 				if (is_force_sp && offboard_control_mode.ignore_position &&
-						offboard_control_mode.ignore_velocity) {
+				    offboard_control_mode.ignore_velocity) {
 					/* The offboard setpoint is a force setpoint only, directly writing to the force
 					 * setpoint topic and not publishing the setpoint triplet topic */
 					struct vehicle_force_setpoint_s	force_sp;
 					force_sp.x = set_position_target_local_ned.afx;
 					force_sp.y = set_position_target_local_ned.afy;
 					force_sp.z = set_position_target_local_ned.afz;
+
 					//XXX: yaw
 					if (_force_sp_pub == nullptr) {
 						_force_sp_pub = orb_advertise(ORB_ID(vehicle_force_setpoint), &force_sp);
+
 					} else {
 						orb_publish(ORB_ID(vehicle_force_setpoint), _force_sp_pub, &force_sp);
 					}
+
 				} else {
 					/* It's not a pure force setpoint: publish to setpoint triplet  topic */
 					struct position_setpoint_triplet_s pos_sp_triplet;
@@ -751,6 +784,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 						pos_sp_triplet.current.x = set_position_target_local_ned.x;
 						pos_sp_triplet.current.y = set_position_target_local_ned.y;
 						pos_sp_triplet.current.z = set_position_target_local_ned.z;
+
 					} else {
 						pos_sp_triplet.current.position_valid = false;
 					}
@@ -761,6 +795,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 						pos_sp_triplet.current.vx = set_position_target_local_ned.vx;
 						pos_sp_triplet.current.vy = set_position_target_local_ned.vy;
 						pos_sp_triplet.current.vz = set_position_target_local_ned.vz;
+
 					} else {
 						pos_sp_triplet.current.velocity_valid = false;
 					}
@@ -773,7 +808,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 						pos_sp_triplet.current.a_y = set_position_target_local_ned.afy;
 						pos_sp_triplet.current.a_z = set_position_target_local_ned.afz;
 						pos_sp_triplet.current.acceleration_is_force =
-						is_force_sp;
+							is_force_sp;
 
 					} else {
 						pos_sp_triplet.current.acceleration_valid = false;
@@ -796,14 +831,16 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 					} else {
 						pos_sp_triplet.current.yawspeed_valid = false;
 					}
+
 					//XXX handle global pos setpoints (different MAV frames)
 
 					if (_pos_sp_triplet_pub == nullptr) {
 						_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet),
-								&pos_sp_triplet);
+										    &pos_sp_triplet);
+
 					} else {
 						orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub,
-								&pos_sp_triplet);
+							    &pos_sp_triplet);
 					}
 
 				}
@@ -837,10 +874,10 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
 		PX4_ISFINITE(set_actuator_control_target.controls[7]);
 
 	if ((mavlink_system.sysid == set_actuator_control_target.target_system ||
-		    set_actuator_control_target.target_system == 0) &&
-		(mavlink_system.compid == set_actuator_control_target.target_component ||
-		    set_actuator_control_target.target_component == 0) &&
-		values_finite) {
+	     set_actuator_control_target.target_system == 0) &&
+	    (mavlink_system.compid == set_actuator_control_target.target_component ||
+	     set_actuator_control_target.target_component == 0) &&
+	    values_finite) {
 
 		/* ignore all since we are setting raw actuators here */
 		offboard_control_mode.ignore_thrust             = true;
@@ -854,6 +891,7 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
 
 		if (_offboard_control_mode_pub == nullptr) {
 			_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode);
+
 		} else {
 			orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode);
 		}
@@ -862,6 +900,7 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
 		/* If we are in offboard control mode, publish the actuator controls */
 		bool updated;
 		orb_check(_control_mode_sub, &updated);
+
 		if (updated) {
 			orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
 		}
@@ -871,12 +910,13 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
 			actuator_controls.timestamp = hrt_absolute_time();
 
 			/* Set duty cycles for the servos in actuator_controls_0 */
-			for(size_t i = 0; i < 8; i++) {
+			for (size_t i = 0; i < 8; i++) {
 				actuator_controls.control[i] = set_actuator_control_target.controls[i];
 			}
 
 			if (_actuator_controls_pub == nullptr) {
 				_actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &actuator_controls);
+
 			} else {
 				orb_publish(ORB_ID(actuator_controls_0), _actuator_controls_pub, &actuator_controls);
 			}
@@ -942,10 +982,10 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 
 	/* Only accept messages which are intended for this system */
 	if ((mavlink_system.sysid == set_attitude_target.target_system ||
-				set_attitude_target.target_system == 0) &&
-			(mavlink_system.compid == set_attitude_target.target_component ||
-				set_attitude_target.target_component == 0) &&
-			values_finite) {
+	     set_attitude_target.target_system == 0) &&
+	    (mavlink_system.compid == set_attitude_target.target_component ||
+	     set_attitude_target.target_component == 0) &&
+	    values_finite) {
 
 		/* set correct ignore flags for thrust field: copy from mavlink message */
 		_offboard_control_mode.ignore_thrust = (bool)(set_attitude_target.type_mask & (1 << 6));
@@ -969,6 +1009,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 			/* Message want's us to ignore everything except thrust: only ignore if previously ignored */
 			_offboard_control_mode.ignore_bodyrate = ignore_bodyrate_msg && _offboard_control_mode.ignore_bodyrate;
 			_offboard_control_mode.ignore_attitude = ignore_attitude_msg && _offboard_control_mode.ignore_attitude;
+
 		} else {
 			_offboard_control_mode.ignore_bodyrate = ignore_bodyrate_msg;
 			_offboard_control_mode.ignore_attitude = ignore_attitude_msg;
@@ -992,6 +1033,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 		if (_mavlink->get_forward_externalsp()) {
 			bool updated;
 			orb_check(_control_mode_sub, &updated);
+
 			if (updated) {
 				orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
 			}
@@ -1001,9 +1043,10 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 				/* Publish attitude setpoint if attitude and thrust ignore bits are not set */
 				if (!(_offboard_control_mode.ignore_attitude)) {
 					_att_sp.timestamp = hrt_absolute_time();
+
 					if (!ignore_attitude_msg) { // only copy att sp if message contained new data
 						mavlink_quaternion_to_euler(set_attitude_target.q,
-								&_att_sp.roll_body, &_att_sp.pitch_body, &_att_sp.yaw_body);
+									    &_att_sp.roll_body, &_att_sp.pitch_body, &_att_sp.yaw_body);
 						mavlink_quaternion_to_dcm(set_attitude_target.q, (float(*)[3])_att_sp.R_body);
 						_att_sp.R_valid = true;
 						_att_sp.yaw_sp_move_rate = 0.0;
@@ -1017,6 +1060,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 
 					if (_att_sp_pub == nullptr) {
 						_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
+
 					} else {
 						orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
 					}
@@ -1026,17 +1070,20 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 				///XXX add support for ignoring individual axes
 				if (!(_offboard_control_mode.ignore_bodyrate)) {
 					_rates_sp.timestamp = hrt_absolute_time();
+
 					if (!ignore_bodyrate_msg) { // only copy att rates sp if message contained new data
 						_rates_sp.roll = set_attitude_target.body_roll_rate;
 						_rates_sp.pitch = set_attitude_target.body_pitch_rate;
 						_rates_sp.yaw = set_attitude_target.body_yaw_rate;
 					}
+
 					if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
 						_rates_sp.thrust = set_attitude_target.thrust;
 					}
 
 					if (_rates_sp_pub == nullptr) {
 						_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_rates_sp);
+
 					} else {
 						orb_publish(ORB_ID(vehicle_rates_setpoint), _rates_sp_pub, &_rates_sp);
 					}
@@ -1105,6 +1152,7 @@ MavlinkReceiver::decode_switch_pos_n(uint16_t buttons, unsigned sw)
 		if (!on && (on != last_on)) {
 
 			_mom_switch_pos[sw]++;
+
 			if (_mom_switch_pos[sw] == state_count) {
 				_mom_switch_pos[sw] = 0;
 			}
@@ -1135,26 +1183,42 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
 	}
 
 	struct rc_input_values rc = {};
+
 	rc.timestamp_publication = hrt_absolute_time();
+
 	rc.timestamp_last_signal = rc.timestamp_publication;
 
 	rc.channel_count = 8;
+
 	rc.rc_failsafe = false;
+
 	rc.rc_lost = false;
+
 	rc.rc_lost_frame_count = 0;
+
 	rc.rc_total_frame_count = 1;
+
 	rc.rc_ppm_frame_length = 0;
+
 	rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK;
+
 	rc.rssi = RC_INPUT_RSSI_MAX;
 
 	/* channels */
 	rc.values[0] = man.chan1_raw;
+
 	rc.values[1] = man.chan2_raw;
+
 	rc.values[2] = man.chan3_raw;
+
 	rc.values[3] = man.chan4_raw;
+
 	rc.values[4] = man.chan5_raw;
+
 	rc.values[5] = man.chan6_raw;
+
 	rc.values[6] = man.chan7_raw;
+
 	rc.values[7] = man.chan8_raw;
 
 	if (_rc_pub == nullptr) {
@@ -1203,6 +1267,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 		/* decode all switches which fit into the channel mask */
 		unsigned max_switch = (sizeof(man.buttons) * 8);
 		unsigned max_channels = (sizeof(rc.values) / sizeof(rc.values[0]));
+
 		if (max_switch > (max_channels - 4)) {
 			max_switch = (max_channels - 4);
 		}
@@ -1211,6 +1276,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 		for (unsigned i = 0; i < max_switch; i++) {
 			rc.values[i + 4] = decode_switch_pos_n(man.buttons, i);
 		}
+
 		_mom_switch_state = man.buttons;
 
 		if (_rc_pub == nullptr) {
@@ -1272,9 +1338,10 @@ void
 MavlinkReceiver::handle_message_ping(mavlink_message_t *msg)
 {
 	mavlink_ping_t ping;
-	mavlink_msg_ping_decode( msg, &ping);
+	mavlink_msg_ping_decode(msg, &ping);
+
 	if ((mavlink_system.sysid == ping.target_system) &&
-		(mavlink_system.compid == ping.target_component)) {
+	    (mavlink_system.compid == ping.target_component)) {
 		mavlink_message_t msg_out;
 		mavlink_msg_ping_encode(_mavlink->get_system_id(), _mavlink->get_component_id(), &msg_out, &ping);
 		_mavlink->send_message(MAVLINK_MSG_ID_PING, &msg_out);
@@ -1287,7 +1354,8 @@ MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg)
 	mavlink_request_data_stream_t req;
 	mavlink_msg_request_data_stream_decode(msg, &req);
 
-	if (req.target_system == mavlink_system.sysid && req.target_component == mavlink_system.compid && req.req_message_rate != 0) {
+	if (req.target_system == mavlink_system.sysid && req.target_component == mavlink_system.compid
+	    && req.req_message_rate != 0) {
 		float rate = req.start_stop ? (1000.0f / req.req_message_rate) : 0.0f;
 
 		MavlinkStream *stream;
@@ -1315,11 +1383,12 @@ MavlinkReceiver::handle_message_system_time(mavlink_message_t *msg)
 	if (!onb_unix_valid && ofb_unix_valid) {
 		tv.tv_sec = time.time_unix_usec / 1000000ULL;
 		tv.tv_nsec = (time.time_unix_usec % 1000000ULL) * 1000ULL;
-		if(px4_clock_settime(CLOCK_REALTIME, &tv)) {
+
+		if (px4_clock_settime(CLOCK_REALTIME, &tv)) {
 			warn("failed setting clock");
-		}
-		else {
-		warnx("[timesync] UTC time synced.");
+
+		} else {
+			warnx("[timesync] UTC time synced.");
 		}
 	}
 
@@ -1349,12 +1418,13 @@ MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg)
 
 	} else if (tsync.tc1 > 0) {
 
-		int64_t offset_ns = (int64_t)(tsync.ts1 + now_ns - tsync.tc1*2)/2 ;
+		int64_t offset_ns = (int64_t)(tsync.ts1 + now_ns - tsync.tc1 * 2) / 2 ;
 		int64_t dt = _time_offset - offset_ns;
 
 		if (dt > 10000000LL || dt < -10000000LL) { // 10 millisecond skew
 			_time_offset = offset_ns;
 			warnx("[timesync] Hard setting offset.");
+
 		} else {
 			smooth_time_offset(offset_ns);
 		}
@@ -1382,17 +1452,19 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 	float dt;
 
 	if (_hil_last_frame == 0 ||
-	   (timestamp <= _hil_last_frame) ||
-	   (timestamp - _hil_last_frame) > (0.1f * 1e6f) ||
-	   (_hil_last_frame >= timestamp)) {
+	    (timestamp <= _hil_last_frame) ||
+	    (timestamp - _hil_last_frame) > (0.1f * 1e6f) ||
+	    (_hil_last_frame >= timestamp)) {
 		dt = 0.01f; /* default to 100 Hz */
 		memset(&_hil_prev_gyro[0], 0, sizeof(_hil_prev_gyro));
 		_hil_prev_accel[0] = 0.0f;
 		_hil_prev_accel[1] = 0.0f;
 		_hil_prev_accel[2] = 9.866f;
+
 	} else {
 		dt = (timestamp - _hil_last_frame) / 1e6f;
 	}
+
 	_hil_last_frame = timestamp;
 
 	/* airspeed */
@@ -1645,12 +1717,13 @@ void MavlinkReceiver::handle_message_follow_target(mavlink_message_t *msg)
 
 	follow_target_topic.timestamp = hrt_absolute_time();
 
-	follow_target_topic.lat = follow_target_msg.lat*1e-7;
-	follow_target_topic.lon = follow_target_msg.lon*1e-7;
+	follow_target_topic.lat = follow_target_msg.lat * 1e-7;
+	follow_target_topic.lon = follow_target_msg.lon * 1e-7;
 	follow_target_topic.alt = follow_target_msg.alt;
 
 	if (_follow_target_pub == nullptr) {
 		_follow_target_pub = orb_advertise(ORB_ID(follow_target), &follow_target_topic);
+
 	} else {
 		orb_publish(ORB_ID(follow_target), _follow_target_pub, &follow_target_topic);
 	}
@@ -1666,8 +1739,8 @@ void MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
 	t.timestamp = hrt_absolute_time();
 
 	t.ICAO_address = adsb.ICAO_address;
-	t.lat = adsb.lat*1e-7;
-	t.lon = adsb.lon*1e-7;
+	t.lat = adsb.lat * 1e-7;
+	t.lon = adsb.lon * 1e-7;
 	t.altitude_type = adsb.altitude_type;
 	t.altitude = adsb.altitude / 1000.0f;
 	t.heading = adsb.heading / 100.0f / 180.0f * M_PI_F - M_PI_F;
@@ -1683,6 +1756,7 @@ void MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
 
 	if (_transponder_report_pub == nullptr) {
 		_transponder_report_pub = orb_advertise(ORB_ID(transponder_report), &t);
+
 	} else {
 		orb_publish(ORB_ID(transponder_report), _transponder_report_pub, &t);
 	}
@@ -1704,7 +1778,7 @@ void MavlinkReceiver::handle_message_gps_inject_data(mavlink_message_t *msg)
 	if (pub == nullptr) {
 		int idx = _gps_inject_data_next_idx;
 		pub = orb_advertise_multi(ORB_ID(gps_inject_data), &gps_inject_data_topic,
-				&idx, ORB_PRIO_DEFAULT);
+					  &idx, ORB_PRIO_DEFAULT);
 
 	} else {
 		orb_publish(ORB_ID(gps_inject_data), pub, &gps_inject_data_topic);
@@ -1840,7 +1914,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 	/* land detector */
 	{
 		bool landed = (float)(hil_state.alt) / 1000.0f < (_hil_local_alt0 + 0.1f); // XXX improve?
-		if(hil_land_detector.landed != landed) {
+
+		if (hil_land_detector.landed != landed) {
 			hil_land_detector.landed = landed;
 			hil_land_detector.timestamp = hrt_absolute_time();
 
@@ -1927,6 +2002,7 @@ MavlinkReceiver::receive_thread(void *arg)
 		fds[0].fd = uart_fd;
 		fds[0].events = POLLIN;
 	}
+
 #ifdef __PX4_POSIX
 	struct sockaddr_in srcaddr = {};
 	socklen_t addrlen = sizeof(srcaddr);
@@ -1960,31 +2036,38 @@ MavlinkReceiver::receive_thread(void *arg)
 					usleep(sleeptime);
 				}
 			}
+
 #ifdef __PX4_POSIX
+
 			if (_mavlink->get_protocol() == UDP) {
 				if (fds[0].revents & POLLIN) {
 					nread = recvfrom(_mavlink->get_socket_fd(), buf, sizeof(buf), 0, (struct sockaddr *)&srcaddr, &addrlen);
 				}
+
 			} else {
 				// could be TCP or other protocol
 			}
 
-			struct sockaddr_in * srcaddr_last = _mavlink->get_client_source_address();
+			struct sockaddr_in *srcaddr_last = _mavlink->get_client_source_address();
+
 			int localhost = (127 << 24) + 1;
+
 			if (!_mavlink->get_client_source_initialized()) {
 
 				// set the address either if localhost or if 3 seconds have passed
 				// this ensures that a GCS running on localhost can get a hold of
 				// the system within the first N seconds
 				hrt_abstime stime = _mavlink->get_start_time();
+
 				if ((stime != 0 && (hrt_elapsed_time(&stime) > 3 * 1000 * 1000))
-					|| (srcaddr_last->sin_addr.s_addr == htonl(localhost))) {
+				    || (srcaddr_last->sin_addr.s_addr == htonl(localhost))) {
 					srcaddr_last->sin_addr.s_addr = srcaddr.sin_addr.s_addr;
 					srcaddr_last->sin_port = srcaddr.sin_port;
 					_mavlink->set_client_source_initialized();
 					warnx("changing partner IP to: %s", inet_ntoa(srcaddr.sin_addr));
 				}
 			}
+
 #endif
 			// only start accepting messages once we're sure who we talk to
 
@@ -2018,21 +2101,23 @@ void MavlinkReceiver::print_status()
 
 uint64_t MavlinkReceiver::sync_stamp(uint64_t usec)
 {
-	if(_time_offset > 0)
+	if (_time_offset > 0) {
 		return usec - (_time_offset / 1000) ;
-	else
+
+	} else {
 		return hrt_absolute_time();
+	}
 }
 
 
 void MavlinkReceiver::smooth_time_offset(int64_t offset_ns)
 {
 	/* alpha = 0.6 fixed for now. The closer alpha is to 1.0,
-         * the faster the moving average updates in response to
+	 * the faster the moving average updates in response to
 	 * new offset samples.
 	 */
 
- 	_time_offset = (_time_offset_avg_alpha * offset_ns) + (1.0 - _time_offset_avg_alpha) * _time_offset;
+	_time_offset = (_time_offset_avg_alpha * offset_ns) + (1.0 - _time_offset_avg_alpha) * _time_offset;
 }
 
 
@@ -2041,7 +2126,7 @@ void *MavlinkReceiver::start_helper(void *context)
 
 	MavlinkReceiver *rcv = new MavlinkReceiver((Mavlink *)context);
 
-	void* ret = rcv->receive_thread(NULL);
+	void *ret = rcv->receive_thread(nullptr);
 
 	delete rcv;