SITL: remove trailing whitespace

libraries/SITL/SIM_Aircraft.cpp

@@ -152,9 +152,9 @@ void Aircraft::adjust_frame_time(float new_rate)
     }
 }
 
-/* 
+/*
    try to synchronise simulation time with wall clock time, taking
-   into account desired speedup 
+   into account desired speedup
    This tries to take account of possible granularity of
    get_wall_time_us() so it works reasonably well on windows
 */
@@ -173,7 +173,7 @@ void Aircraft::sync_frame_time(void)
         }
 #if 0
         ::printf("achieved_rate_hz=%.3f rate=%.2f rate_hz=%.3f sft=%.1f\n",
-                 (double)achieved_rate_hz, 
+                 (double)achieved_rate_hz,
                  (double)rate,
                  (double)rate_hz,
                  (double)scaled_frame_time_us);

libraries/SITL/SIM_CRRCSim.cpp

@@ -59,7 +59,7 @@ void CRRCSim::send_servos_heli(const struct sitl_input &input)
     float roll_rate = (swash1 - swash2)/2;
     float pitch_rate = -((swash1 + swash2)/2.0 - swash3)/2;
     float yaw_rate = -(tail_rotor - 0.5);
-    
+
     servo_packet pkt;
     pkt.roll_rate  = constrain_float(roll_rate, -0.5, 0.5);
     pkt.pitch_rate = constrain_float(pitch_rate, -0.5, 0.5);

libraries/SITL/SIM_CRRCSim.h

@@ -52,7 +52,7 @@ private:
         float yaw_rate;
         float col_pitch;
     };
-    
+
     /*
       reply packet sent from CRRCSim to ArduPilot
      */

libraries/SITL/SIM_Gazebo.h

@@ -48,7 +48,7 @@ private:
     struct servo_packet {
       float motor_speed[4];
     };
-    
+
     /*
       reply packet sent from Gazebo to ArduPilot
      */

libraries/SITL/SIM_Gimbal.cpp

@@ -57,8 +57,8 @@ void Gimbal::update(void)
     Matrix3f vehicle_dcm;
     vehicle_dcm.from_euler(radians(fdm.rollDeg), radians(fdm.pitchDeg), radians(fdm.yawDeg));
 
-    Vector3f vehicle_gyro = Vector3f(radians(fdm.rollRate), 
-                                     radians(fdm.pitchRate), 
+    Vector3f vehicle_gyro = Vector3f(radians(fdm.rollRate),
+                                     radians(fdm.pitchRate),
                                      radians(fdm.yawRate));
     Vector3f vehicle_accel_body = Vector3f(fdm.xAccel, fdm.yAccel, fdm.zAccel);
 
@@ -79,7 +79,7 @@ void Gimbal::update(void)
     Matrix3f rotmat_copter_gimbal = dcm.transposed() * vehicle_dcm;
 
     joint_angles = rotmat_copter_gimbal.transposed().to_euler312();
-        
+
     /* 4)  For each of the three joints, calculate upper and lower rate limits
        from the corresponding angle limits and current joint angles
 
@@ -145,7 +145,7 @@ void Gimbal::update(void)
     //    in an inertial frame of reference
     // demandedGimbalRatesInertial(X,Y,Z)  = relativeGimbalRate(X,Y,Z) + copterAngRate_G
     // Vector3f demandedGimbalRatesInertial = relativeGimbalRate + copterAngRate_G;
-            
+
     // for the moment we will set gyros equal to demanded_angular_rate
     gimbal_angular_rate = demRateRaw; // demandedGimbalRatesInertial + true_gyro_bias - supplied_gyro_bias
 
@@ -198,7 +198,7 @@ void Gimbal::send_report(void)
             mavlink_message_t msg;
             mavlink_status_t status;
             if (mavlink_frame_char_buffer(&mavlink.rxmsg, &mavlink.status,
-                                          buf[i], 
+                                          buf[i],
                                           &msg, &status) == MAVLINK_FRAMING_OK) {
                 switch (msg.msgid) {
                 case MAVLINK_MSG_ID_HEARTBEAT: {
@@ -249,8 +249,8 @@ void Gimbal::send_report(void)
         mavlink_status_t *chan0_status = mavlink_get_channel_status(MAVLINK_COMM_0);
         uint8_t saved_seq = chan0_status->current_tx_seq;
         chan0_status->current_tx_seq = mavlink.seq;
-        len = mavlink_msg_heartbeat_encode(vehicle_system_id, 
-                                           vehicle_component_id, 
+        len = mavlink_msg_heartbeat_encode(vehicle_system_id,
+                                           vehicle_component_id,
                                            &msg, &heartbeat);
         chan0_status->current_tx_seq = saved_seq;
 
@@ -282,13 +282,13 @@ void Gimbal::send_report(void)
         mavlink_status_t *chan0_status = mavlink_get_channel_status(MAVLINK_COMM_0);
         uint8_t saved_seq = chan0_status->current_tx_seq;
         chan0_status->current_tx_seq = mavlink.seq;
-        len = mavlink_msg_gimbal_report_encode(vehicle_system_id, 
-                                               vehicle_component_id, 
+        len = mavlink_msg_gimbal_report_encode(vehicle_system_id,
+                                               vehicle_component_id,
                                                &msg, &gimbal_report);
         chan0_status->current_tx_seq = saved_seq;
 
         mav_socket.send(&msg.magic, len);
-        
+
         delta_velocity.zero();
         delta_angle.zero();
     }

libraries/SITL/SIM_Gimbal.h

@@ -71,7 +71,7 @@ private:
 
     // reporting period in ms
     const float reporting_period_ms;
-        
+
     // integral of gyro vector over last time interval. In radians
     Vector3f delta_angle;
 

libraries/SITL/SIM_Helicopter.cpp

@@ -87,14 +87,14 @@ void Helicopter::update(const struct sitl_input &input)
         // simulate a traditional helicopter
 
         float tail_rotor = (input.servos[3]-1000) / 1000.0f;
-    
+
         thrust = (rsc/rsc_setpoint) * (swash1+swash2+swash3) / 3.0f;
         torque_effect_accel = (rsc_scale+thrust) * rotor_rot_accel;
 
         roll_rate = swash1 - swash2;
         pitch_rate = (swash1+swash2) / 2.0f - swash3;
         yaw_rate = tail_rotor - 0.5f;
-  
+
         lateral_y_thrust = yaw_rate * rsc_scale * tail_thrust_scale;
         break;
     }
@@ -105,7 +105,7 @@ void Helicopter::update(const struct sitl_input &input)
         float swash4 = (input.servos[3]-1000) / 1000.0f;
         float swash5 = (input.servos[4]-1000) / 1000.0f;
         float swash6 = (input.servos[5]-1000) / 1000.0f;
-        
+
         thrust = (rsc / rsc_setpoint) * (swash1+swash2+swash3+swash4+swash5+swash6) / 6.0f;
         torque_effect_accel = (rsc_scale + rsc / rsc_setpoint) * rotor_rot_accel * ((swash1+swash2+swash3) - (swash4+swash5+swash6));
 
@@ -120,7 +120,7 @@ void Helicopter::update(const struct sitl_input &input)
 
         float right_rotor = (input.servos[3]-1000) / 1000.0f;
         float left_rotor = (input.servos[4]-1000) / 1000.0f;
-    
+
         thrust = (rsc/rsc_setpoint) * (swash1+swash2+swash3) / 3.0f;
         torque_effect_accel = (rsc_scale+thrust) * rotor_rot_accel;
 

libraries/SITL/SIM_JSBSim.cpp

@@ -122,7 +122,7 @@ bool JSBSim::create_templates(void)
     if (f == NULL) {
         hal.scheduler->panic("Unable to create jsbsim fgout script");
     }
-    fprintf(f, "<?xml version=\"1.0\"?>\n" 
+    fprintf(f, "<?xml version=\"1.0\"?>\n"
             "<output name=\"127.0.0.1\" type=\"FLIGHTGEAR\" port=\"%u\" protocol=\"udp\" rate=\"1000\"/>\n",
             fdm_port);
     fclose(f);
@@ -135,7 +135,7 @@ bool JSBSim::create_templates(void)
     }
     float r, p, y;
     dcm.to_euler(&r, &p, &y);
-    fprintf(f, 
+    fprintf(f,
             "<?xml version=\"1.0\"?>\n"
             "<initialize name=\"Start up location\">\n"
             "  <latitude unit=\"DEG\"> %f </latitude>\n"
@@ -172,7 +172,7 @@ bool JSBSim::start_JSBSim(void)
     int p[2];
     int devnull = open("/dev/null", O_RDWR);
     if (pipe(p) != 0) {
-        hal.scheduler->panic("Unable to create pipe");        
+        hal.scheduler->panic("Unable to create pipe");
     }
     pid_t child_pid = fork();
     if (child_pid == 0) {
@@ -194,8 +194,8 @@ bool JSBSim::start_JSBSim(void)
             exit(1);
         }
 
-        int ret = execlp("JSBSim", 
-                         "JSBSim", 
+        int ret = execlp("JSBSim",
+                         "JSBSim",
                          "--realtime",
                          "--suspend",
                          "--nice",
@@ -218,7 +218,7 @@ bool JSBSim::start_JSBSim(void)
     }
 
     if (!expect("JSBSim Execution beginning")) {
-        hal.scheduler->panic("Failed to start JSBSim");        
+        hal.scheduler->panic("Failed to start JSBSim");
     }
     if (!open_control_socket()) {
         hal.scheduler->panic("Failed to open JSBSim control socket");
@@ -252,7 +252,7 @@ bool JSBSim::expect(const char *str)
 {
     const char *basestr = str;
     while (*str) {
-        char c;        
+        char c;
         if (read(jsbsim_stdout, &c, 1) != 1) {
             return false;
         }
@@ -283,7 +283,7 @@ bool JSBSim::open_control_socket(void)
     sock_control.set_blocking(false);
     opened_control_socket = true;
 
-    char startup[] = 
+    char startup[] =
         "info\n"
         "resume\n"
         "step\n"
@@ -337,7 +337,7 @@ void JSBSim::send_servos(const struct sitl_input &input)
         rudder   = (ch2+ch1)/2.0f;
     }
     float wind_speed_fps = input.wind.speed / FEET_TO_METERS;
-    asprintf(&buf, 
+    asprintf(&buf,
              "set fcs/aileron-cmd-norm %f\n"
              "set fcs/elevator-cmd-norm %f\n"
              "set fcs/rudder-cmd-norm %f\n"
@@ -370,7 +370,7 @@ void JSBSim::send_servos(const struct sitl_input &input)
 /* nasty hack ....
    JSBSim sends in little-endian
  */
-void FGNetFDM::ByteSwap(void) 
+void FGNetFDM::ByteSwap(void)
 {
     uint32_t *buf = (uint32_t *)this;
     for (uint16_t i=0; i<sizeof(*this)/4; i++) {

libraries/SITL/SIM_JSBSim.h

@@ -109,7 +109,7 @@ public:
     float phidot;		// roll rate (radians/sec)
     float thetadot;		// pitch rate (radians/sec)
     float psidot;		// yaw rate (radians/sec)
-    float vcas;		        // calibrated airspeed
+    float vcas;             // calibrated airspeed
     float climb_rate;		// feet per second
     float v_north;              // north velocity in local/body frame, fps
     float v_east;               // east velocity in local/body frame, fps
@@ -131,17 +131,17 @@ public:
     float slip_deg;		// slip ball deflection
 
     // Pressure
-    
+
     // Engine status
-    uint32_t num_engines;	     // Number of valid engines
+    uint32_t num_engines;        // Number of valid engines
     uint32_t eng_state[FG_MAX_ENGINES];// Engine state (off, cranking, running)
-    float rpm[FG_MAX_ENGINES];	     // Engine RPM rev/min
+    float rpm[FG_MAX_ENGINES];       // Engine RPM rev/min
     float fuel_flow[FG_MAX_ENGINES]; // Fuel flow gallons/hr
     float fuel_px[FG_MAX_ENGINES];   // Fuel pressure psi
-    float egt[FG_MAX_ENGINES];	     // Exhuast gas temp deg F
-    float cht[FG_MAX_ENGINES];	     // Cylinder head temp deg F
+    float egt[FG_MAX_ENGINES];       // Exhuast gas temp deg F
+    float cht[FG_MAX_ENGINES];       // Cylinder head temp deg F
     float mp_osi[FG_MAX_ENGINES];    // Manifold pressure
-    float tit[FG_MAX_ENGINES];	     // Turbine Inlet Temperature
+    float tit[FG_MAX_ENGINES];       // Turbine Inlet Temperature
     float oil_temp[FG_MAX_ENGINES];  // Oil temp deg F
     float oil_px[FG_MAX_ENGINES];    // Oil pressure psi
 

libraries/SITL/SIM_Tracker.cpp

@@ -42,7 +42,7 @@ void Tracker::update_position_servos(float delta_time, float &yaw_rate, float &p
 
 /*
   update function for onoff servos.
-  These servos either move at a constant rate or are still 
+  These servos either move at a constant rate or are still
   Returns (yaw_rate,pitch_rate) tuple
 */
 void Tracker::update_onoff_servos(float &yaw_rate, float &pitch_rate)
@@ -71,7 +71,7 @@ void Tracker::update(const struct sitl_input &input)
 {
     // how much time has passed?
     float delta_time = frame_time_us * 1.0e-6f;
-    
+
     float yaw_rate, pitch_rate;
 
     yaw_input = (input.servos[0]-1500)/500.0f;
@@ -117,8 +117,8 @@ void Tracker::update(const struct sitl_input &input)
         last_debug_us = time_now_us;
         printf("roll=%.1f pitch=%.1f yaw=%.1f rates=%.1f/%.1f/%.1f in=%.3f,%.3f\n",
                roll_current,
-               pitch_current_relative, 
-               yaw_current_relative, 
+               pitch_current_relative,
+               yaw_current_relative,
                roll_rate, pitch_rate, yaw_rate,
                yaw_input, pitch_input);
     }

libraries/SITL/SIM_last_letter.h

@@ -50,7 +50,7 @@ private:
     struct servo_packet {
         uint16_t servos[16];
     };
-    
+
     /*
       reply packet sent from last_letter to ArduPilot
      */

libraries/SITL/SITL.cpp

@@ -95,9 +95,9 @@ void SITL::simstate_send(mavlink_channel_t chan)
                               state.xAccel,
                               state.yAccel,
                               state.zAccel,
-                              radians(state.rollRate), 
-                              radians(state.pitchRate), 
-                              radians(state.yawRate), 
+                              radians(state.rollRate),
+                              radians(state.pitchRate),
+                              radians(state.yawRate),
                               state.latitude*1.0e7,
                               state.longitude*1.0e7);
 }