AP_AHRS: Change indentation.

AP_AHRS: Delete inserted message "no break"

libraries/AP_AHRS/AP_AHRS_NavEKF.cpp

@@ -428,7 +428,7 @@ bool AP_AHRS_NavEKF::use_compass(void)
 bool AP_AHRS_NavEKF::get_secondary_attitude(Vector3f &eulers)
 {
     switch (active_EKF_type()) {
-        case EKF_TYPE_NONE:
+    case EKF_TYPE_NONE:
         // EKF is secondary
         EKF2.getEulerAngles(-1, eulers);
         return ekf2_started;
@@ -438,9 +438,9 @@ bool AP_AHRS_NavEKF::get_secondary_attitude(Vector3f &eulers)
     case EKF_TYPE3:
 
     default:
-            // DCM is secondary
+        // DCM is secondary
-            eulers = _dcm_attitude;
+        eulers = _dcm_attitude;
-            return true;
+        return true;
     }
 }
 
@@ -507,23 +507,23 @@ bool AP_AHRS_NavEKF::have_inertial_nav(void) const
 bool AP_AHRS_NavEKF::get_velocity_NED(Vector3f &vec) const
 {
     switch (active_EKF_type()) {
-        case EKF_TYPE_NONE:
+    case EKF_TYPE_NONE:
-            return false;
+        return false;
 
-        case EKF_TYPE2:
+    case EKF_TYPE2:
-        default:
+    default:
-            EKF2.getVelNED(-1,vec);
+        EKF2.getVelNED(-1,vec);
-            return true;
+        return true;
 
-        case EKF_TYPE3:
+    case EKF_TYPE3:
-            EKF3.getVelNED(-1,vec);
+        EKF3.getVelNED(-1,vec);
-            return true;
+        return true;
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-        case EKF_TYPE_SITL:
+    case EKF_TYPE_SITL:
-            const struct SITL::sitl_fdm &fdm = _sitl->state;
+        const struct SITL::sitl_fdm &fdm = _sitl->state;
-            vec = Vector3f(fdm.speedN, fdm.speedE, fdm.speedD);
+        vec = Vector3f(fdm.speedN, fdm.speedE, fdm.speedD);
-            return true;
+        return true;
 #endif
     }
 }
@@ -532,21 +532,21 @@ bool AP_AHRS_NavEKF::get_velocity_NED(Vector3f &vec) const
 bool AP_AHRS_NavEKF::get_mag_field_NED(Vector3f &vec) const
 {
     switch (active_EKF_type()) {
-        case EKF_TYPE_NONE:
+    case EKF_TYPE_NONE:
-            return false;
+        return false;
 
-        case EKF_TYPE2:
+    case EKF_TYPE2:
-        default:
+    default:
-            EKF2.getMagNED(-1,vec);
+        EKF2.getMagNED(-1,vec);
-            return true;
+        return true;
 
-        case EKF_TYPE3:
+    case EKF_TYPE3:
-            EKF3.getMagNED(-1,vec);
+        EKF3.getMagNED(-1,vec);
-            return true;
+        return true;
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-        case EKF_TYPE_SITL:
+    case EKF_TYPE_SITL:
-            return false;
+        return false;
 #endif
     }
 }
@@ -555,22 +555,22 @@ bool AP_AHRS_NavEKF::get_mag_field_NED(Vector3f &vec) const
 bool AP_AHRS_NavEKF::get_mag_field_correction(Vector3f &vec) const
 {
     switch (active_EKF_type()) {
-        case EKF_TYPE_NONE:
+    case EKF_TYPE_NONE:
-            return false;
+        return false;
 
-        case EKF_TYPE2:
+    case EKF_TYPE2:
-        default:
+    default:
-            EKF2.getMagXYZ(-1,vec);
+        EKF2.getMagXYZ(-1,vec);
-            return true;
+        return true;
 
-        case EKF_TYPE3:
+    case EKF_TYPE3:
-            EKF3.getMagXYZ(-1,vec);
+        EKF3.getMagXYZ(-1,vec);
-            return true;
+        return true;
 
-            #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-        case EKF_TYPE_SITL:
+    case EKF_TYPE_SITL:
-            return false;
+        return false;
-            #endif
+#endif
     }
 }