Some cleanup.

libraries/APO/AP_ArmingMechanism.cpp

@@ -14,42 +14,44 @@ namespace apo {
 
 void AP_ArmingMechanism::update(const float dt) {
 
-	// arming
-	if ( (_hal->getState() != MAV_STATE_ACTIVE) &
-	 (_hal->rc[_ch1]->getRadioPosition() < _ch1Min) &&
-	 (_hal->rc[_ch2]->getRadioPosition() < _ch2Min) ) {
-
-		// always start clock at 0
-		if (_armingClock<0) _armingClock = 0;
-
-		if (_armingClock++ >= 100) {
-			_hal->gcs->sendText(SEVERITY_HIGH, PSTR("armed"));
-			_hal->setState(MAV_STATE_ACTIVE);
-		} else {
-			_hal->gcs->sendText(SEVERITY_HIGH, PSTR("arming"));
-		}
-	}
-	// disarming
-	else if ( (_hal->getState() == MAV_STATE_ACTIVE) &
-		 (_hal->rc[_ch1]->getRadioPosition() < _ch1Min) &&
-		 (_hal->rc[_ch2]->getRadioPosition() > _ch2Max) ) {
-
-		// always start clock at 0
-		if (_armingClock>0) _armingClock = 0;
-
-		if (_armingClock-- <= -100) {
-			_hal->gcs->sendText(SEVERITY_HIGH, PSTR("disarmed"));
-			_hal->setState(MAV_STATE_STANDBY);
-		} else {
-			_hal->gcs->sendText(SEVERITY_HIGH, PSTR("disarming"));
-		}
-	}
-	// reset arming clock and report status
-	else if (_armingClock != 0) {
-		_armingClock = 0;
-		if (_hal->getState()==MAV_STATE_ACTIVE) _hal->gcs->sendText(SEVERITY_HIGH, PSTR("armed"));
-		else if (_hal->getState()!=MAV_STATE_ACTIVE) _hal->gcs->sendText(SEVERITY_HIGH, PSTR("disarmed"));
-	}
+    // arming
+    if ( (_hal->getState() != MAV_STATE_ACTIVE) &
+     (_hal->rc[_ch1]->getRadioPosition() < _ch1Min) &&
+     (_hal->rc[_ch2]->getRadioPosition() < _ch2Min) ) {
+
+        // always start clock at 0
+        if (_armingClock<0) _armingClock = 0;
+
+        if (_armingClock++ >= 100) {
+            _hal->gcs->sendText(SEVERITY_HIGH, PSTR("armed"));
+            _hal->setState(MAV_STATE_ACTIVE);
+        } else {
+            _hal->gcs->sendText(SEVERITY_HIGH, PSTR("arming"));
+        }
+    }
+    // disarming
+    else if ( (_hal->getState() == MAV_STATE_ACTIVE) &
+         (_hal->rc[_ch1]->getRadioPosition() < _ch1Min) &&
+         (_hal->rc[_ch2]->getRadioPosition() > _ch2Max) ) {
+
+        // always start clock at 0
+        if (_armingClock>0) _armingClock = 0;
+
+        if (_armingClock-- <= -100) {
+            _hal->gcs->sendText(SEVERITY_HIGH, PSTR("disarmed"));
+            _hal->setState(MAV_STATE_STANDBY);
+        } else {
+            _hal->gcs->sendText(SEVERITY_HIGH, PSTR("disarming"));
+        }
+    }
+    // reset arming clock and report status
+    else if (_armingClock != 0) {
+        _armingClock = 0;
+        if (_hal->getState()==MAV_STATE_ACTIVE) _hal->gcs->sendText(SEVERITY_HIGH, PSTR("armed"));
+        else if (_hal->getState()!=MAV_STATE_ACTIVE) _hal->gcs->sendText(SEVERITY_HIGH, PSTR("disarmed"));
+    }
 }
 
 } // apo
+
+// vim:ts=4:sw=4:expandtab

libraries/APO/AP_ArmingMechanism.h

@@ -16,50 +16,52 @@ class AP_HardwareAbstractionLayer;
 class AP_ArmingMechanism {
 
 public:
-	/**
-	 * Constructor
-	 *
-	 * @param ch1: typically throttle channel
-	 * @param ch2: typically yaw channel
-	 * @param ch1Min: disarms/arms belows this
-	 * @param ch2Min: disarms below this
-	 * @param ch2Max: arms above this
-	 */
-	AP_ArmingMechanism(AP_HardwareAbstractionLayer * hal,
-			uint8_t ch1, uint8_t ch2, float ch1Min, float ch2Min,
-			float ch2Max) : _armingClock(0), _hal(hal), _ch1(ch1), _ch2(ch2),
-			_ch1Min(ch1Min), _ch2Min(ch2Min) {
-	}
+    /**
+     * Constructor
+     *
+     * @param ch1: typically throttle channel
+     * @param ch2: typically yaw channel
+     * @param ch1Min: disarms/arms belows this
+     * @param ch2Min: disarms below this
+     * @param ch2Max: arms above this
+     */
+    AP_ArmingMechanism(AP_HardwareAbstractionLayer * hal,
+            uint8_t ch1, uint8_t ch2, float ch1Min, float ch2Min,
+            float ch2Max) : _armingClock(0), _hal(hal), _ch1(ch1), _ch2(ch2),
+            _ch1Min(ch1Min), _ch2Min(ch2Min) {
+    }
 
-	/**
-	 * update
-	 *
-	 * arming:
-	 * 
-	 * to arm: put stick to bottom right for 100 controller cycles
-	 * (max yaw, min throttle)
-	 *
-	 * didn't use clock here in case of millis() roll over
-	 * for long runs
-	 *
-	 * disarming:
-	 *
-	 * to disarm: put stick to bottom left for 100 controller cycles
-	 * (min yaw, min throttle)
-	 */
-	void update(const float dt);
+    /**
+     * update
+     *
+     * arming:
+     * 
+     * to arm: put stick to bottom right for 100 controller cycles
+     * (max yaw, min throttle)
+     *
+     * didn't use clock here in case of millis() roll over
+     * for long runs
+     *
+     * disarming:
+     *
+     * to disarm: put stick to bottom left for 100 controller cycles
+     * (min yaw, min throttle)
+     */
+    void update(const float dt);
 
 private:
 
-	AP_HardwareAbstractionLayer * _hal;
-	uint8_t _armingClock;
-	uint8_t _ch1; /// typically throttle channel
-	uint8_t _ch2; /// typically yaw channel
-	float _ch1Min; /// arms/disarms below this on ch1
-	float _ch2Min; /// disarms below this on ch2
-	float _ch2Max; /// arms above this on ch2
+    AP_HardwareAbstractionLayer * _hal;
+    uint8_t _armingClock;
+    uint8_t _ch1; /// typically throttle channel
+    uint8_t _ch2; /// typically yaw channel
+    float _ch1Min; /// arms/disarms below this on ch1
+    float _ch2Min; /// disarms below this on ch2
+    float _ch2Max; /// arms above this on ch2
 };
 
 } // namespace apo
 
 #endif /* AP_ARMINGMECHANISM */
+
+// vim:ts=4:sw=4:expandtab

libraries/APO/AP_Guide.h

@@ -146,3 +146,4 @@ private:
 #endif // AP_Guide_H
 
 // vim:ts=4:sw=4:expandtab
+