Fixed code style for conversions

apps/systemlib/conversions.c

@@ -62,94 +62,97 @@ int16_t_from_bytes(uint8_t bytes[])
 
 void rot2quat(const float R[9], float Q[4])
 {
-  float q0_2;
-  float q1_2;
-  float q2_2;
-  float q3_2;
-  int32_t idx;
-
-  /* conversion of rotation matrix to quaternion
-   * choose the largest component to begin with */
-  q0_2 = (((1.0F + R[0]) + R[4]) + R[8]) / 4.0F;
-  q1_2 = (((1.0F + R[0]) - R[4]) - R[8]) / 4.0F;
-  q2_2 = (((1.0F - R[0]) + R[4]) - R[8]) / 4.0F;
-  q3_2 = (((1.0F - R[0]) - R[4]) + R[8]) / 4.0F;
-
-  idx = 0;
-
-  if (q0_2 < q1_2) {
-    q0_2 = q1_2;
-
-    idx = 1;
-  }
-
-  if (q0_2 < q2_2) {
-    q0_2 = q2_2;
-    idx = 2;
-  }
-
-  if (q0_2 < q3_2) {
-    q0_2 = q3_2;
-    idx = 3;
-  }
-
-  q0_2 = sqrtf(q0_2);
-
-  /* solve for the remaining three components */
-  if (idx == 0) {
-    q1_2 = q0_2;
-    q2_2 = (R[5] - R[7]) / 4.0F / q0_2;
-    q3_2 = (R[6] - R[2]) / 4.0F / q0_2;
-    q0_2 = (R[1] - R[3]) / 4.0F / q0_2;
-  } else if (idx == 1) {
-    q2_2 = q0_2;
-    q1_2 = (R[5] - R[7]) / 4.0F / q0_2;
-    q3_2 = (R[3] + R[1]) / 4.0F / q0_2;
-    q0_2 = (R[6] + R[2]) / 4.0F / q0_2;
-  } else if (idx == 2) {
-    q3_2 = q0_2;
-    q1_2 = (R[6] - R[2]) / 4.0F / q0_2;
-    q2_2 = (R[3] + R[1]) / 4.0F / q0_2;
-    q0_2 = (R[7] + R[5]) / 4.0F / q0_2;
-  } else {
-    q1_2 = (R[1] - R[3]) / 4.0F / q0_2;
-    q2_2 = (R[6] + R[2]) / 4.0F / q0_2;
-    q3_2 = (R[7] + R[5]) / 4.0F / q0_2;
-  }
-
-  /* return values */
-  Q[0] = q1_2;
-  Q[1] = q2_2;
-  Q[2] = q3_2;
-  Q[3] = q0_2;
+	float q0_2;
+	float q1_2;
+	float q2_2;
+	float q3_2;
+	int32_t idx;
+
+	/* conversion of rotation matrix to quaternion
+	 * choose the largest component to begin with */
+	q0_2 = (((1.0F + R[0]) + R[4]) + R[8]) / 4.0F;
+	q1_2 = (((1.0F + R[0]) - R[4]) - R[8]) / 4.0F;
+	q2_2 = (((1.0F - R[0]) + R[4]) - R[8]) / 4.0F;
+	q3_2 = (((1.0F - R[0]) - R[4]) + R[8]) / 4.0F;
+
+	idx = 0;
+
+	if (q0_2 < q1_2) {
+		q0_2 = q1_2;
+
+		idx = 1;
+	}
+
+	if (q0_2 < q2_2) {
+		q0_2 = q2_2;
+		idx = 2;
+	}
+
+	if (q0_2 < q3_2) {
+		q0_2 = q3_2;
+		idx = 3;
+	}
+
+	q0_2 = sqrtf(q0_2);
+
+	/* solve for the remaining three components */
+	if (idx == 0) {
+		q1_2 = q0_2;
+		q2_2 = (R[5] - R[7]) / 4.0F / q0_2;
+		q3_2 = (R[6] - R[2]) / 4.0F / q0_2;
+		q0_2 = (R[1] - R[3]) / 4.0F / q0_2;
+
+	} else if (idx == 1) {
+		q2_2 = q0_2;
+		q1_2 = (R[5] - R[7]) / 4.0F / q0_2;
+		q3_2 = (R[3] + R[1]) / 4.0F / q0_2;
+		q0_2 = (R[6] + R[2]) / 4.0F / q0_2;
+
+	} else if (idx == 2) {
+		q3_2 = q0_2;
+		q1_2 = (R[6] - R[2]) / 4.0F / q0_2;
+		q2_2 = (R[3] + R[1]) / 4.0F / q0_2;
+		q0_2 = (R[7] + R[5]) / 4.0F / q0_2;
+
+	} else {
+		q1_2 = (R[1] - R[3]) / 4.0F / q0_2;
+		q2_2 = (R[6] + R[2]) / 4.0F / q0_2;
+		q3_2 = (R[7] + R[5]) / 4.0F / q0_2;
+	}
+
+	/* return values */
+	Q[0] = q1_2;
+	Q[1] = q2_2;
+	Q[2] = q3_2;
+	Q[3] = q0_2;
 }
 
 void quat2rot(const float Q[4], float R[9])
 {
-  float q0_2;
-  float q1_2;
-  float q2_2;
-  float q3_2;
-
-  memset(&R[0], 0, 9U * sizeof(float));
-
-  q0_2 = Q[0] * Q[0];
-  q1_2 = Q[1] * Q[1];
-  q2_2 = Q[2] * Q[2];
-  q3_2 = Q[3] * Q[3];
-
-  R[0] = ((q0_2 + q1_2) - q2_2) - q3_2;
-  R[3] = 2.0F * (Q[1] * Q[2] - Q[0] * Q[3]);
-  R[6] = 2.0F * (Q[1] * Q[3] + Q[0] * Q[2]);
-  R[1] = 2.0F * (Q[1] * Q[2] + Q[0] * Q[3]);
-  R[4] = ((q0_2 + q2_2) - q1_2) - q3_2;
-  R[7] = 2.0F * (Q[2] * Q[3] - Q[0] * Q[1]);
-  R[2] = 2.0F * (Q[1] * Q[3] - Q[0] * Q[2]);
-  R[5] = 2.0F * (Q[2] * Q[3] + Q[0] * Q[1]);
-  R[8] = ((q0_2 + q3_2) - q1_2) - q2_2;
+	float q0_2;
+	float q1_2;
+	float q2_2;
+	float q3_2;
+
+	memset(&R[0], 0, 9U * sizeof(float));
+
+	q0_2 = Q[0] * Q[0];
+	q1_2 = Q[1] * Q[1];
+	q2_2 = Q[2] * Q[2];
+	q3_2 = Q[3] * Q[3];
+
+	R[0] = ((q0_2 + q1_2) - q2_2) - q3_2;
+	R[3] = 2.0F * (Q[1] * Q[2] - Q[0] * Q[3]);
+	R[6] = 2.0F * (Q[1] * Q[3] + Q[0] * Q[2]);
+	R[1] = 2.0F * (Q[1] * Q[2] + Q[0] * Q[3]);
+	R[4] = ((q0_2 + q2_2) - q1_2) - q3_2;
+	R[7] = 2.0F * (Q[2] * Q[3] - Q[0] * Q[1]);
+	R[2] = 2.0F * (Q[1] * Q[3] - Q[0] * Q[2]);
+	R[5] = 2.0F * (Q[2] * Q[3] + Q[0] * Q[1]);
+	R[8] = ((q0_2 + q3_2) - q1_2) - q2_2;
 }
- 
+
 float get_air_density(float static_pressure, float temperature_celsius)
 {
-  return static_pressure/(air_gas_constant * (temperature_celsius + absolute_null_kelvin));
+	return static_pressure / (air_gas_constant * (temperature_celsius + absolute_null_kelvin));
 }