From 88b2349241d4d8c15cb1a91940f060babbd8f0ff Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 23 Mar 2016 20:34:50 +0100
Subject: [PATCH] Code style fixes

---
 src/modules/navigator/loiter.cpp        |  2 +-
 src/modules/navigator/mission_block.cpp | 47 +++++++++++++------------
 src/modules/navigator/mission_block.h   | 16 ++++-----
 3 files changed, 33 insertions(+), 32 deletions(-)

diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp
index f59c024529..6fba668317 100644
--- a/src/modules/navigator/loiter.cpp
+++ b/src/modules/navigator/loiter.cpp
@@ -79,7 +79,7 @@ Loiter::on_activation()
 
 	/* convert mission item to current setpoint */
 	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
-    pos_sp_triplet->current.velocity_valid = false;
+	pos_sp_triplet->current.velocity_valid = false;
 	pos_sp_triplet->previous.valid = false;
 	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
 	pos_sp_triplet->next.valid = false;
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index c0d5351f55..9d11c9b84a 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -228,6 +228,7 @@ MissionBlock::is_mission_item_reached()
 
 	/* Once the waypoint and yaw setpoint have been reached we can start the loiter time countdown */
 	if (_waypoint_position_reached && _waypoint_yaw_reached) {
+
 		if (_time_first_inside_orbit == 0) {
 			_time_first_inside_orbit = now;
 
@@ -436,36 +437,36 @@ MissionBlock::set_loiter_item(struct mission_item_s *item, float min_clearance)
 void
 MissionBlock::set_follow_target_item(struct mission_item_s *item, float min_clearance, follow_target_s & target, float yaw)
 {
-    if (_navigator->get_vstatus()->condition_landed) {
-        /* landed, don't takeoff, but switch to IDLE mode */
-        item->nav_cmd = NAV_CMD_IDLE;
+	if (_navigator->get_vstatus()->condition_landed) {
+		/* landed, don't takeoff, but switch to IDLE mode */
+		item->nav_cmd = NAV_CMD_IDLE;
 
-    } else {
-        item->nav_cmd = NAV_CMD_FOLLOW_TARGET;
+	} else {
 
-        /* use current target position */
+		item->nav_cmd = NAV_CMD_FOLLOW_TARGET;
 
-        item->lat = target.lat;
-        item->lon = target.lon;
-        item->altitude = target.alt + _navigator->get_home_position()->alt;
+		/* use current target position */
 
-        if (((min_clearance > 0.0f) && (item->altitude < _navigator->get_home_position()->alt + min_clearance)) || PX4_ISFINITE(target.alt)) {
-            item->altitude = _navigator->get_home_position()->alt + min_clearance;
-        }
-    }
+		item->lat = target.lat;
+		item->lon = target.lon;
+		item->altitude = target.alt + _navigator->get_home_position()->alt;
 
-    item->altitude_is_relative = false;
-    item->yaw = yaw;
-    item->loiter_radius = _navigator->get_loiter_radius();
-    item->loiter_direction = 1;
-    item->acceptance_radius = _navigator->get_acceptance_radius();
-    item->time_inside = 0.0f;
-    item->pitch_min = 0.0f;
-    item->autocontinue = false;
-    item->origin = ORIGIN_ONBOARD;
+		if (((min_clearance > 0.0f) && (item->altitude < _navigator->get_home_position()->alt + min_clearance)) || PX4_ISFINITE(target.alt)) {
+			item->altitude = _navigator->get_home_position()->alt + min_clearance;
+		}
+	}
+
+	item->altitude_is_relative = false;
+	item->yaw = yaw;
+	item->loiter_radius = _navigator->get_loiter_radius();
+	item->loiter_direction = 1;
+	item->acceptance_radius = _navigator->get_acceptance_radius();
+	item->time_inside = 0.0f;
+	item->pitch_min = 0.0f;
+	item->autocontinue = false;
+	item->origin = ORIGIN_ONBOARD;
 }
 
-
 void
 MissionBlock::set_takeoff_item(struct mission_item_s *item, float min_clearance, float min_pitch)
 {
diff --git a/src/modules/navigator/mission_block.h b/src/modules/navigator/mission_block.h
index 700e0b91c1..a95fd8410a 100644
--- a/src/modules/navigator/mission_block.h
+++ b/src/modules/navigator/mission_block.h
@@ -117,15 +117,15 @@ protected:
 	 */
 	void set_idle_item(struct mission_item_s *item);
 
-    /**
-     * Convert a mission item to a command
-     */
-    void mission_item_to_vehicle_command(const struct mission_item_s *item, struct vehicle_command_s *cmd);
+	/**
+	 * Convert a mission item to a command
+	 */
+	void mission_item_to_vehicle_command(const struct mission_item_s *item, struct vehicle_command_s *cmd);
 
-    /**
-     * set follow_target item
-     */
-    void set_follow_target_item(struct mission_item_s *item, float min_clearance, follow_target_s & target, float yaw);
+	/**
+	 * Set follow_target item
+	 */
+	void set_follow_target_item(struct mission_item_s *item, float min_clearance, follow_target_s & target, float yaw);
 
 	void issue_command(const struct mission_item_s *item);