fix code style

src/lib/geo/geo.c

@@ -298,16 +298,19 @@ __EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, dou
 	return CONSTANTS_RADIUS_OF_EARTH * c;
 }
 
-__EXPORT void create_waypoint_from_line_and_dist(double lat_A, double lon_A, double lat_B, double lon_B, float dist, double *lat_target, double *lon_target)
+__EXPORT void create_waypoint_from_line_and_dist(double lat_A, double lon_A, double lat_B, double lon_B, float dist,
+		double *lat_target, double *lon_target)
 {
 	float heading;
+
 	if (fabsf(dist) < FLT_EPSILON) {
 		*lat_target = lat_A;
 		*lon_target = lon_A;
-	}
+
-	else if (dist >= FLT_EPSILON) {
+	} else if (dist >= FLT_EPSILON) {
 		heading = get_bearing_to_next_waypoint(lat_A, lon_A, lat_B, lon_B);
 		waypoint_from_heading_and_distance(lat_A, lon_A, heading, dist, lat_target, lon_target);
+
 	} else {
 		heading = get_bearing_to_next_waypoint(lat_A, lon_A, lat_B, lon_B);
 		heading = _wrap_2pi(heading + M_PI_F);
@@ -315,13 +318,15 @@ __EXPORT void create_waypoint_from_line_and_dist(double lat_A, double lon_A, dou
 	}
 }
 
-__EXPORT void waypoint_from_heading_and_distance(double lat_start, double lon_start, float bearing, float dist, double *lat_end, double *lon_end)
+__EXPORT void waypoint_from_heading_and_distance(double lat_start, double lon_start, float bearing, float dist,
+		double *lat_end, double *lon_end)
 {
 	bearing = _wrap_2pi(bearing);
 	double radius_ratio = (double)(fabs(dist) / CONSTANTS_RADIUS_OF_EARTH);
 
 	*lat_end = asin(sin(lat_start) * cos(radius_ratio) + cos(lat_start) * sin(radius_ratio) * cos((double)bearing));
-	*lon_end = lon_start + atan2(sin((double)bearing) * sin(radius_ratio) * cos(lat_start), cos(radius_ratio) - sin(lat_start) * sin(*lat_end));
+	*lon_end = lon_start + atan2(sin((double)bearing) * sin(radius_ratio) * cos(lat_start),
+				     cos(radius_ratio) - sin(lat_start) * sin(*lat_end));
 }
 __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
 {

src/lib/geo/geo.h

@@ -238,9 +238,11 @@ __EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, dou
 
 
 // TODO put description for both functions and improve naming
-__EXPORT void create_waypoint_from_line_and_dist(double lat_A, double lon_A, double lat_B, double lon_B, float dist, double *lat_target, double *lon_target);
+__EXPORT void create_waypoint_from_line_and_dist(double lat_A, double lon_A, double lat_B, double lon_B, float dist,
+		double *lat_target, double *lon_target);
 
-__EXPORT void waypoint_from_heading_and_distance(double lat_start, double lon_start, float bearing, float dist, double *end_lat, double *end_lon);
+__EXPORT void waypoint_from_heading_and_distance(double lat_start, double lon_start, float bearing, float dist,
+		double *end_lat, double *end_lon);
 
 /**
  * Returns the bearing to the next waypoint in radians.

src/lib/terrain_estimation/terrain_estimator.cpp

@@ -51,15 +51,18 @@ TerrainEstimator::TerrainEstimator() :
 	_P.setIdentity();
 }
 
-bool TerrainEstimator::is_distance_valid(float distance) {
+bool TerrainEstimator::is_distance_valid(float distance)
+{
 	if (distance > 40.0f || distance < 0.00001f) {
 		return false;
+
 	} else {
 		return true;
 	}
 }
 
-void TerrainEstimator::predict(float dt, const struct vehicle_attitude_s *attitude, const struct sensor_combined_s *sensor,
+void TerrainEstimator::predict(float dt, const struct vehicle_attitude_s *attitude,
+			       const struct sensor_combined_s *sensor,
 			       const struct distance_sensor_s *distance)
 {
 	if (attitude->R_valid) {
@@ -76,25 +79,25 @@ void TerrainEstimator::predict(float dt, const struct vehicle_attitude_s *attitu
 	// dynamics matrix
 	matrix::Matrix<float, n_x, n_x> A;
 	A.setZero();
-	A(0,1) = 1;
+	A(0, 1) = 1;
-	A(1,2) = 1;
+	A(1, 2) = 1;
 
 	// input matrix
-	matrix::Matrix<float, n_x,1>  B;
+	matrix::Matrix<float, n_x, 1>  B;
 	B.setZero();
-	B(1,0) = 1;
+	B(1, 0) = 1;
 
 	// input noise variance
 	float R = 0.135f;
 
 	// process noise convariance
 	matrix::Matrix<float, n_x, n_x>  Q;
-	Q(0,0) = 0;
+	Q(0, 0) = 0;
-	Q(1,1) = 0;
+	Q(1, 1) = 0;
 
 	// do prediction
 	matrix::Vector<float, n_x>  dx = (A * _x) * dt;
-	dx(1) += B(1,0) * _u_z * dt;
+	dx(1) += B(1, 0) * _u_z * dt;
 
 	// propagate state and covariance matrix
 	_x += dx;
@@ -102,7 +105,8 @@ void TerrainEstimator::predict(float dt, const struct vehicle_attitude_s *attitu
 	       B * R * B.transpose() + Q) * dt;
 }
 
-void TerrainEstimator::measurement_update(uint64_t time_ref, const struct vehicle_gps_position_s *gps, const struct distance_sensor_s *distance,
+void TerrainEstimator::measurement_update(uint64_t time_ref, const struct vehicle_gps_position_s *gps,
+		const struct distance_sensor_s *distance,
 		const struct vehicle_attitude_s *attitude)
 {
 	// terrain estimate is invalid if we have range sensor timeout
@@ -124,7 +128,7 @@ void TerrainEstimator::measurement_update(uint64_t time_ref, const struct vehicl
 
 		// residual
 		matrix::Matrix<float, 1, 1> S_I = (C * _P * C.transpose());
-		S_I(0,0) += R;
+		S_I(0, 0) += R;
 		S_I = matrix::inv<float, 1> (S_I);
 		matrix::Vector<float, 1> r = y - C * _x;
 
@@ -140,6 +144,7 @@ void TerrainEstimator::measurement_update(uint64_t time_ref, const struct vehicl
 		// estimate to be invalid
 		if (!is_distance_valid(distance->current_distance) && !is_distance_valid(_distance_last)) {
 			_terrain_valid = false;
+
 		} else {
 			_terrain_valid = true;
 		}
@@ -150,7 +155,7 @@ void TerrainEstimator::measurement_update(uint64_t time_ref, const struct vehicl
 
 	if (gps->timestamp_position > _time_last_gps && gps->fix_type >= 3) {
 		matrix::Matrix<float, 1, n_x> C;
-		C(0,1) = 1;
+		C(0, 1) = 1;
 
 		float R = 0.056f;
 
@@ -159,7 +164,7 @@ void TerrainEstimator::measurement_update(uint64_t time_ref, const struct vehicl
 
 		// residual
 		matrix::Matrix<float, 1, 1> S_I = (C * _P * C.transpose());
-		S_I(0,0) += R;
+		S_I(0, 0) += R;
 		S_I = matrix::inv<float, 1>(S_I);
 		matrix::Vector<float, 1> r = y - C * _x;
 
@@ -172,6 +177,7 @@ void TerrainEstimator::measurement_update(uint64_t time_ref, const struct vehicl
 
 	// reinitialise filter if we find bad data
 	bool reinit = false;
+
 	for (int i = 0; i < n_x; i++) {
 		if (!PX4_ISFINITE(_x(i))) {
 			reinit = true;
@@ -180,7 +186,7 @@ void TerrainEstimator::measurement_update(uint64_t time_ref, const struct vehicl
 
 	for (int i = 0; i < n_x; i++) {
 		for (int j = 0; j < n_x; j++) {
-			if (!PX4_ISFINITE(_P(i,j))) {
+			if (!PX4_ISFINITE(_P(i, j))) {
 				reinit = true;
 			}
 		}
@@ -189,7 +195,7 @@ void TerrainEstimator::measurement_update(uint64_t time_ref, const struct vehicl
 	if (reinit) {
 		memset(&_x._data[0], 0, sizeof(_x._data));
 		_P.setZero();
-		_P(0,0) = _P(1,1) = _P(2,2) = 0.1f;
+		_P(0, 0) = _P(1, 1) = _P(2, 2) = 0.1f;
 	}
 
 }

src/lib/terrain_estimation/terrain_estimator.h

@@ -66,11 +66,12 @@ public:
 
 	void predict(float dt, const struct vehicle_attitude_s *attitude, const struct sensor_combined_s *sensor,
 		     const struct distance_sensor_s *distance);
-	void measurement_update(uint64_t time_ref, const struct vehicle_gps_position_s *gps, const struct distance_sensor_s *distance,
+	void measurement_update(uint64_t time_ref, const struct vehicle_gps_position_s *gps,
+				const struct distance_sensor_s *distance,
 				const struct vehicle_attitude_s *attitude);
 
 private:
-	enum {n_x=3};
+	enum {n_x = 3};
 
 	float _distance_last;
 	bool _terrain_valid;