Fix formatting

src/modules/mavlink/mavlink_receiver.cpp

@@ -88,9 +88,9 @@ static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f;
 
 MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_mavlink(parent),
-	status {},
-       hil_local_pos {},
-       _control_mode {},
+	status{},
+	hil_local_pos{},
+	_control_mode{},
 	_global_pos_pub(-1),
 	_local_pos_pub(-1),
 	_attitude_pub(-1),
@@ -121,9 +121,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_old_timestamp(0),
 	_hil_local_proj_inited(0),
 	_hil_local_alt0(0.0f),
-       _hil_local_proj_ref {},
-       _time_offset_avg_alpha(0.75),
-       _time_offset(0)
+	_hil_local_proj_ref{}
 {
 
 	// make sure the FTP server is started
@@ -277,35 +275,22 @@ 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 = (enum VEHICLE_CMD)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 < 0) {
@@ -346,34 +331,22 @@ 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 = (enum VEHICLE_CMD)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 < 0) {
@@ -461,7 +434,6 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
 
 	if (_range_pub < 0) {
 		_range_pub = orb_advertise(ORB_ID(sensor_range_finder), &r);
-
 	} else {
 		orb_publish(ORB_ID(sensor_range_finder), _range_pub, &r);
 	}
@@ -546,24 +518,19 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 			case MAV_FRAME_LOCAL_NED:
 				offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED;
 				break;
-
 			case MAV_FRAME_LOCAL_OFFSET_NED:
 				offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED;
 				break;
-
 			case MAV_FRAME_BODY_NED:
 				offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED;
 				break;
-
 			case MAV_FRAME_BODY_OFFSET_NED:
 				offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED;
 				break;
-
 			default:
 				/* invalid setpoint, avoid publishing */
 				return;
 		}
-
 		offboard_control_sp.position[0] = set_position_target_local_ned.x;
 		offboard_control_sp.position[1] = set_position_target_local_ned.y;
 		offboard_control_sp.position[2] = set_position_target_local_ned.z;
@@ -589,13 +556,11 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 		}
 
 		offboard_control_sp.ignore &=  ~(1 << OFB_IGN_BIT_YAW);
-
 		if (set_position_target_local_ned.type_mask & (1 << 10)) {
 			offboard_control_sp.ignore |=  (1 << OFB_IGN_BIT_YAW);
 		}
 
 		offboard_control_sp.ignore &=  ~(1 << OFB_IGN_BIT_YAWRATE);
-
 		if (set_position_target_local_ned.type_mask & (1 << 11)) {
 			offboard_control_sp.ignore |=  (1 << OFB_IGN_BIT_YAWRATE);
 		}
@@ -614,11 +579,9 @@ 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 (offboard_control_sp.isForceSetpoint &&
 						offboard_control_sp_ignore_position_all(offboard_control_sp) &&
@@ -629,15 +592,12 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 					force_sp.x = offboard_control_sp.acceleration[0];
 					force_sp.y = offboard_control_sp.acceleration[1];
 					force_sp.z = offboard_control_sp.acceleration[2];
-
 					//XXX: yaw
 					if (_force_sp_pub < 0) {
 						_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;
@@ -654,7 +614,6 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 					pos_sp_triplet.current.x = offboard_control_sp.position[0];
 					pos_sp_triplet.current.y = offboard_control_sp.position[1];
 					pos_sp_triplet.current.z = offboard_control_sp.position[2];
-
 					} else {
 						pos_sp_triplet.current.position_valid = false;
 					}
@@ -667,7 +626,6 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 						pos_sp_triplet.current.vx = offboard_control_sp.velocity[0];
 						pos_sp_triplet.current.vy = offboard_control_sp.velocity[1];
 						pos_sp_triplet.current.vz = offboard_control_sp.velocity[2];
-
 					} else {
 						pos_sp_triplet.current.velocity_valid = false;
 					}
@@ -708,14 +666,12 @@ 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 < 0) {
 						_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet),
 								&pos_sp_triplet);
-
 					} else {
 						orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub,
 								&pos_sp_triplet);
@@ -785,7 +741,6 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 		for (int i = 0; i < 4; i++) {
 			offboard_control_sp.attitude[i] = set_attitude_target.q[i];
 		}
-
 		offboard_control_sp.attitude_rate[0] = set_attitude_target.body_roll_rate;
 		offboard_control_sp.attitude_rate[1] = set_attitude_target.body_pitch_rate;
 		offboard_control_sp.attitude_rate[2] = set_attitude_target.body_yaw_rate;
@@ -795,7 +750,6 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 			offboard_control_sp.ignore &=  ~(1 << (i + OFB_IGN_BIT_BODYRATE_X));
 			offboard_control_sp.ignore |=  (set_attitude_target.type_mask & (1 << i)) << OFB_IGN_BIT_BODYRATE_X;
 		}
-
 		/* set correct ignore flags for thrust field: copy from mavlink message */
 		offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_THRUST);
 		offboard_control_sp.ignore |= ((set_attitude_target.type_mask & (1 << 6)) << OFB_IGN_BIT_THRUST);
@@ -805,7 +759,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 
 
 		offboard_control_sp.timestamp = hrt_absolute_time();
-		offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; //XXX handle rate control mode
+		offboard_control_sp.mode =OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; //XXX handle rate control mode
 
 		if (_offboard_control_sp_pub < 0) {
 			_offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
@@ -819,7 +773,6 @@ 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);
 			}
@@ -838,10 +791,8 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 					att_sp.thrust = set_attitude_target.thrust;
 					memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d));
 					att_sp.q_d_valid = true;
-
 					if (_att_sp_pub < 0) {
 						_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);
 					}
@@ -860,7 +811,6 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 
 					if (_att_sp_pub < 0) {
 						_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);
 					}
@@ -919,8 +869,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 	manual.r = man.r / 1000.0f;
 	manual.z = man.z / 1000.0f;
 
-	warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", (double)manual.x, (double)manual.y, (double)manual.r,
-	      (double)manual.z);
+	warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", (double)manual.x, (double)manual.y, (double)manual.r, (double)manual.z);
 
 	if (_manual_pub < 0) {
 		_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);