Mount: Alexmos formatting fixes

libraries/AP_Mount/AP_Mount_Alexmos.cpp

@@ -86,19 +86,20 @@ void AP_Mount_Alexmos::status_msg(mavlink_channel_t chan)
 void AP_Mount_Alexmos::get_angles()
 {
     uint8_t data[1] = {(uint8_t)1};
-    send_command (CMD_GET_ANGLES,  data , 1);
+    send_command(CMD_GET_ANGLES, data, 1);
 }
-	
+
 /*
- * set_motor will activate motors if true , and disable them if false.
+ * set_motor will activate motors if true, and disable them if false.
  */
-void AP_Mount_Alexmos::set_motor(bool on){
+void AP_Mount_Alexmos::set_motor(bool on)
+{
     if (on) {
         uint8_t data[1] = {(uint8_t)1};
-        send_command (CMD_MOTORS_ON,  data, 1);
+        send_command(CMD_MOTORS_ON, data, 1);
     } else {
         uint8_t data[1] = {(uint8_t)1};
-        send_command (CMD_MOTORS_OFF, data, 1);
+        send_command(CMD_MOTORS_OFF, data, 1);
     }
 }
 
@@ -111,13 +112,13 @@ void AP_Mount_Alexmos::get_boardinfo()
         return;
     }
     uint8_t data[1] = {(uint8_t)1};
-    send_command (CMD_BOARD_INFO,  data , 1);
+    send_command(CMD_BOARD_INFO, data, 1);
 }
 
 /*
   control_axis : send new angles to the gimbal at a fixed speed of 30 deg/s2
 */
-void AP_Mount_Alexmos::control_axis(const Vector3f& angle, bool target_in_degrees )
+void AP_Mount_Alexmos::control_axis(const Vector3f& angle, bool target_in_degrees)
 {
     // convert to degrees if necessary
     Vector3f target_deg = angle;
@@ -132,15 +133,16 @@ void AP_Mount_Alexmos::control_axis(const Vector3f& angle, bool target_in_degree
     outgoing_buffer.angle_speed.angle_pitch = DEGREE_TO_VALUE(target_deg.y);
     outgoing_buffer.angle_speed.speed_yaw = DEGREE_PER_SEC_TO_VALUE(AP_MOUNT_ALEXMOS_SPEED);
     outgoing_buffer.angle_speed.angle_yaw = DEGREE_TO_VALUE(target_deg.z);
-    send_command (CMD_CONTROL, (uint8_t *)&outgoing_buffer.angle_speed , sizeof(alexmos_angles_speed));
+    send_command(CMD_CONTROL, (uint8_t *)&outgoing_buffer.angle_speed, sizeof(alexmos_angles_speed));
 }
 
 /*
   read current profile profile_id and global parameters from the gimbal settings
 */
-void AP_Mount_Alexmos::read_params(uint8_t profile_id){
+void AP_Mount_Alexmos::read_params(uint8_t profile_id)
+{
     uint8_t data[1] = {(uint8_t) profile_id}; 
-    send_command (CMD_READ_PARAMS,  data , 1);
+    send_command(CMD_READ_PARAMS, data, 1);
 }
 
 /*
@@ -151,7 +153,7 @@ void AP_Mount_Alexmos::write_params()
     if (!_param_read_once) {
         return;
     }
-    send_command (CMD_WRITE_PARAMS,  (uint8_t *)&_current_parameters.params , sizeof(alexmos_params));
+    send_command(CMD_WRITE_PARAMS, (uint8_t *)&_current_parameters.params, sizeof(alexmos_params));
 }
 
 /*
@@ -170,9 +172,9 @@ void AP_Mount_Alexmos::send_command(uint8_t cmd, uint8_t* data, uint8_t size)
 
     for (uint8_t i = 0;  i != size ; i++) {
         checksum += data[i];
-        _port->write ( data[i] );
+        _port->write( data[i] );
     }
-    _port->write (checksum);
+    _port->write(checksum);
 }
 
 /*
@@ -185,8 +187,8 @@ void AP_Mount_Alexmos::parse_body()
             _board_version = _buffer.version._board_version/ 10;
             _current_firmware_version = _buffer.version._firmware_version / 1000.0f ;
             _firmware_beta_version = _buffer.version._firmware_version % 10 ;
-            _gimbal_3axis = ( _buffer.version._board_features & 0x1 );
-            _gimbal_bat_monitoring = (_buffer.version._board_features & 0x2 );
+            _gimbal_3axis = (_buffer.version._board_features & 0x1);
+            _gimbal_bat_monitoring = (_buffer.version._board_features & 0x2);
             break;
 
         case CMD_GET_ANGLES:
@@ -222,7 +224,7 @@ void AP_Mount_Alexmos::read_incoming()
     if (numc < 0 ){
         return;
     }
-        
+
     for (int16_t i = 0; i < numc; i++) {        // Process bytes received
         data = _port->read();
         switch (_step) {
@@ -272,7 +274,7 @@ void AP_Mount_Alexmos::read_incoming()
                 if (_checksum  != data) {
                     break;
                 }
-                parse_body ();
+                parse_body();
         }
     }
 }

libraries/AP_Mount/AP_Mount_Alexmos.h

@@ -228,7 +228,7 @@ private:
         uint8_t rc_map_cmd;
         uint8_t rc_map_fc_roll;
         uint8_t rc_map_fc_pitch;
-	
+
         uint8_t rc_mix_fc_roll;
         uint8_t rc_mix_fc_pitch;
 
@@ -300,8 +300,8 @@ private:
     uint8_t _board_version;
     float _current_firmware_version;
     uint8_t _firmware_beta_version;
-    bool _gimbal_3axis ;
-    bool _gimbal_bat_monitoring ;
+    bool _gimbal_3axis;
+    bool _gimbal_bat_monitoring;
 
     // keep the last _current_angle values
     Vector3f _current_angle;
@@ -310,8 +310,8 @@ private:
     bool _param_read_once;
 
     // Serial Protocol Variables
-    uint8_t _checksum ;
-    uint8_t _step ;
+    uint8_t _checksum;
+    uint8_t _step;
     uint8_t _command_id;
     uint8_t _payload_length;
     uint8_t _payload_counter;