mavlink: code style fixed

src/modules/mavlink/mavlink_main.cpp

@@ -151,8 +151,9 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
 	}
 
 	/* no valid instance, bail */
-	if (!instance)
+	if (!instance) {
 		return;
+	}
 
 	int uart = instance->get_uart_fd();
 
@@ -165,12 +166,12 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
 	int buf_free = 0;
 
 	if (instance->get_flow_control_enabled()
-		&& ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) {
+	    && ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) {
 
 		if (buf_free == 0) {
 
 			if (last_write_times[(unsigned)channel] != 0 &&
-			hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500*1000UL) {
+			    hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) {
 
 				warnx("DISABLING HARDWARE FLOW CONTROL");
 				instance->enable_flow_control(false);
@@ -225,30 +226,37 @@ Mavlink::Mavlink() :
 	case 0:
 		_channel = MAVLINK_COMM_0;
 		break;
+
 	case 1:
 		_channel = MAVLINK_COMM_1;
 		break;
+
 	case 2:
 		_channel = MAVLINK_COMM_2;
 		break;
+
 	case 3:
 		_channel = MAVLINK_COMM_3;
 		break;
 #ifdef MAVLINK_COMM_4
+
 	case 4:
 		_channel = MAVLINK_COMM_4;
 		break;
 #endif
 #ifdef MAVLINK_COMM_5
-		case 5:
+
+	case 5:
 		_channel = MAVLINK_COMM_5;
 		break;
 #endif
 #ifdef MAVLINK_COMM_6
+
 	case 6:
 		_channel = MAVLINK_COMM_6;
 		break;
 #endif
+
 	default:
 		errx(1, "instance ID is out of range");
 		break;
@@ -279,6 +287,7 @@ Mavlink::~Mavlink()
 			}
 		} while (_task_running);
 	}
+
 	LL_DELETE(_mavlink_instances, this);
 }
 
@@ -604,12 +613,16 @@ Mavlink::enable_flow_control(bool enabled)
 	}
 
 	struct termios uart_config;
+
 	int ret = tcgetattr(_uart_fd, &uart_config);
+
 	if (enabled) {
 		uart_config.c_cflag |= CRTSCTS;
+
 	} else {
 		uart_config.c_cflag &= ~CRTSCTS;
 	}
+
 	ret = tcsetattr(_uart_fd, TCSANOW, &uart_config);
 
 	if (!ret) {
@@ -1652,6 +1665,7 @@ Mavlink::task_main(int argc, char *argv[])
 		case 'm':
 			if (strcmp(optarg, "custom") == 0) {
 				_mode = MAVLINK_MODE_CUSTOM;
+
 			} else if (strcmp(optarg, "camera") == 0) {
 				_mode = MAVLINK_MODE_CAMERA;
 			}
@@ -1973,6 +1987,7 @@ Mavlink::start(int argc, char *argv[])
 	const unsigned limit = 100 * 1000 / sleeptime;
 
 	unsigned count = 0;
+
 	while (ic == Mavlink::instance_count() && count < limit) {
 		::usleep(sleeptime);
 		count++;
@@ -2003,20 +2018,26 @@ Mavlink::stream(int argc, char *argv[])
 	bool err_flag = false;
 
 	int i = 0;
+
 	while (i < argc) {
 
-		if (0 == strcmp(argv[i], "-r") && i < argc - 1 ) {
+		if (0 == strcmp(argv[i], "-r") && i < argc - 1) {
-			rate = strtod(argv[i+1], nullptr);
+			rate = strtod(argv[i + 1], nullptr);
+
 			if (rate < 0.0f) {
 				err_flag = true;
 			}
+
 			i++;
-		} else if (0 == strcmp(argv[i], "-d") && i < argc - 1 ) {
+
-			device_name = argv[i+1];
+		} else if (0 == strcmp(argv[i], "-d") && i < argc - 1) {
+			device_name = argv[i + 1];
 			i++;
-		} else if (0 == strcmp(argv[i], "-s") && i < argc - 1 ) {
+
-			stream_name = argv[i+1];
+		} else if (0 == strcmp(argv[i], "-s") && i < argc - 1) {
+			stream_name = argv[i + 1];
 			i++;
+
 		} else {
 			err_flag = true;
 		}

src/modules/mavlink/mavlink_messages.cpp

@@ -262,7 +262,6 @@ protected:
 	void send(const hrt_abstime t)
 	{
 		if (status_sub->update(t)) {
-
 			mavlink_msg_sys_status_send(_channel,
 						    status->onboard_control_sensors_present,
 						    status->onboard_control_sensors_enabled,
@@ -318,7 +317,6 @@ protected:
 	void send(const hrt_abstime t)
 	{
 		if (sensor_sub->update(t)) {
-
 			uint16_t fields_updated = 0;
 
 			if (accel_timestamp != sensor->accelerometer_timestamp) {
@@ -385,7 +383,6 @@ protected:
 	void send(const hrt_abstime t)
 	{
 		if (att_sub->update(t)) {
-
 			mavlink_msg_attitude_send(_channel,
 						  att->timestamp / 1000,
 						  att->roll, att->pitch, att->yaw,
@@ -422,7 +419,6 @@ protected:
 	void send(const hrt_abstime t)
 	{
 		if (att_sub->update(t)) {
-
 			mavlink_msg_attitude_quaternion_send(_channel,
 							     att->timestamp / 1000,
 							     att->q[0],
@@ -494,7 +490,6 @@ protected:
 		updated |= airspeed_sub->update(t);
 
 		if (updated) {
-
 			float groundspeed = sqrtf(pos->vel_n * pos->vel_n + pos->vel_e * pos->vel_e);
 			uint16_t heading = _wrap_2pi(att->yaw) * M_RAD_TO_DEG_F;
 			float throttle = armed->armed ? act->control[3] * 100.0f : 0.0f;
@@ -538,7 +533,6 @@ protected:
 	void send(const hrt_abstime t)
 	{
 		if (gps_sub->update(t)) {
-
 			mavlink_msg_gps_raw_int_send(_channel,
 						     gps->timestamp_position,
 						     gps->fix_type,
@@ -592,15 +586,15 @@ protected:
 
 		if (updated) {
 			mavlink_msg_global_position_int_send(_channel,
-						     pos->timestamp / 1000,
+							     pos->timestamp / 1000,
-						     pos->lat * 1e7,
+							     pos->lat * 1e7,
-						     pos->lon * 1e7,
+							     pos->lon * 1e7,
-						     pos->alt * 1000.0f,
+							     pos->alt * 1000.0f,
-						     (pos->alt - home->alt) * 1000.0f,
+							     (pos->alt - home->alt) * 1000.0f,
-						     pos->vel_n * 100.0f,
+							     pos->vel_n * 100.0f,
-						     pos->vel_e * 100.0f,
+							     pos->vel_e * 100.0f,
-						     pos->vel_d * 100.0f,
+							     pos->vel_d * 100.0f,
-						     _wrap_2pi(pos->yaw) * M_RAD_TO_DEG_F * 100.0f);
+							     _wrap_2pi(pos->yaw) * M_RAD_TO_DEG_F * 100.0f);
 		}
 	}
 };
@@ -633,7 +627,6 @@ protected:
 	void send(const hrt_abstime t)
 	{
 		if (pos_sub->update(t)) {
-
 			mavlink_msg_local_position_ned_send(_channel,
 							    pos->timestamp / 1000,
 							    pos->x,
@@ -730,7 +723,6 @@ protected:
 	void send(const hrt_abstime t)
 	{
 		if (act_sub->update(t)) {
-
 			mavlink_msg_servo_output_raw_send(_channel,
 							  act->timestamp / 1000,
 							  _n,
@@ -790,7 +782,6 @@ protected:
 		updated |= act_sub->update(t);
 
 		if (updated) {
-
 			/* translate the current syste state to mavlink state and mode */
 			uint8_t mavlink_state;
 			uint8_t mavlink_base_mode;
@@ -870,7 +861,6 @@ protected:
 	void send(const hrt_abstime t)
 	{
 		if (pos_sp_triplet_sub->update(t)) {
-
 			mavlink_msg_global_position_setpoint_int_send(_channel,
 					MAV_FRAME_GLOBAL,
 					(int32_t)(pos_sp_triplet->current.lat * 1e7),
@@ -908,14 +898,14 @@ protected:
 
 	void send(const hrt_abstime t)
 	{
-		pos_sp_sub->update(t);
+		if (pos_sp_sub->update(t)) {
-
+			mavlink_msg_local_position_setpoint_send(_channel,
-		mavlink_msg_local_position_setpoint_send(_channel,
+					MAV_FRAME_LOCAL_NED,
-				MAV_FRAME_LOCAL_NED,
+					pos_sp->x,
-				pos_sp->x,
+					pos_sp->y,
-				pos_sp->y,
+					pos_sp->z,
-				pos_sp->z,
+					pos_sp->yaw);
-				pos_sp->yaw);
+		}
 	}
 };
 
@@ -947,7 +937,6 @@ protected:
 	void send(const hrt_abstime t)
 	{
 		if (att_sp_sub->update(t)) {
-
 			mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(_channel,
 					att_sp->timestamp / 1000,
 					att_sp->roll_body,
@@ -986,7 +975,6 @@ protected:
 	void send(const hrt_abstime t)
 	{
 		if (att_rates_sp_sub->update(t)) {
-
 			mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(_channel,
 					att_rates_sp->timestamp / 1000,
 					att_rates_sp->roll,
@@ -1025,7 +1013,6 @@ protected:
 	void send(const hrt_abstime t)
 	{
 		if (rc_sub->update(t)) {
-
 			const unsigned port_width = 8;
 
 			for (unsigned i = 0; (i * port_width) < rc->channel_count; i++) {
@@ -1075,7 +1062,6 @@ protected:
 	void send(const hrt_abstime t)
 	{
 		if (manual_sub->update(t)) {
-
 			mavlink_msg_manual_control_send(_channel,
 							mavlink_system.sysid,
 							manual->roll * 1000,
@@ -1115,7 +1101,6 @@ protected:
 	void send(const hrt_abstime t)
 	{
 		if (flow_sub->update(t)) {
-
 			mavlink_msg_optical_flow_send(_channel,
 						      flow->timestamp,
 						      flow->sensor_id,
@@ -1154,24 +1139,23 @@ protected:
 	void send(const hrt_abstime t)
 	{
 		if (att_ctrl_sub->update(t)) {
-
+			/* send, add spaces so that string buffer is at least 10 chars long */
-		// send, add spaces so that string buffer is at least 10 chars long
+			mavlink_msg_named_value_float_send(_channel,
-		mavlink_msg_named_value_float_send(_channel,
+							   att_ctrl->timestamp / 1000,
-						   att_ctrl->timestamp / 1000,
+							   "rll ctrl    ",
-						   "rll ctrl    ",
+							   att_ctrl->control[0]);
-						   att_ctrl->control[0]);
+			mavlink_msg_named_value_float_send(_channel,
-		mavlink_msg_named_value_float_send(_channel,
+							   att_ctrl->timestamp / 1000,
-						   att_ctrl->timestamp / 1000,
+							   "ptch ctrl    ",
-						   "ptch ctrl    ",
+							   att_ctrl->control[1]);
-						   att_ctrl->control[1]);
+			mavlink_msg_named_value_float_send(_channel,
-		mavlink_msg_named_value_float_send(_channel,
+							   att_ctrl->timestamp / 1000,
-						   att_ctrl->timestamp / 1000,
+							   "yaw ctrl     ",
-						   "yaw ctrl     ",
+							   att_ctrl->control[2]);
-						   att_ctrl->control[2]);
+			mavlink_msg_named_value_float_send(_channel,
-		mavlink_msg_named_value_float_send(_channel,
+							   att_ctrl->timestamp / 1000,
-						   att_ctrl->timestamp / 1000,
+							   "thr ctrl     ",
-						   "thr ctrl     ",
+							   att_ctrl->control[3]);
-						   att_ctrl->control[3]);
 		}
 	}
 };
@@ -1203,8 +1187,7 @@ protected:
 	void send(const hrt_abstime t)
 	{
 		if (debug_sub->update(t)) {
-
+			/* enforce null termination */
-			// Enforce null termination
 			debug->key[sizeof(debug->key) - 1] = '\0';
 
 			mavlink_msg_named_value_float_send(_channel,
@@ -1246,10 +1229,11 @@ protected:
 		(void)status_sub->update(t);
 
 		if (status->arming_state == ARMING_STATE_ARMED
-		 || status->arming_state == ARMING_STATE_ARMED_ERROR) {
+		    || status->arming_state == ARMING_STATE_ARMED_ERROR) {
 
 			/* send camera capture on */
 			mavlink_msg_command_long_send(_channel, 42, 30, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 1, 0, 0, 0);
+
 		} else {
 			/* send camera capture off */
 			mavlink_msg_command_long_send(_channel, 42, 30, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 0, 0, 0, 0);