From c59ca4d3b966e1e52297217d676582887ca04e41 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 15 May 2014 07:41:12 +0200
Subject: [PATCH 1/2] attitude_estimator_ekf: Code style fixes

---
 .../attitude_estimator_ekf_main.cpp                   | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index c61b6ff3fe..2ec889efe8 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Tobias Naegeli <naegelit@student.ethz.ch>
- *           Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,9 +32,12 @@
  ****************************************************************************/
 
 /*
- * @file attitude_estimator_ekf_main.c
+ * @file attitude_estimator_ekf_main.cpp
  *
  * Extended Kalman Filter for Attitude Estimation.
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #include <nuttx/config.h>
@@ -111,7 +112,7 @@ usage(const char *reason)
  * Makefile does only apply to this management task.
  *
  * The actual stack size should be set in the call
- * to task_create().
+ * to task_spawn_cmd().
  */
 int attitude_estimator_ekf_main(int argc, char *argv[])
 {

From 9cd1fa5b51672c4c9eebaea2ccbc6e3ea69c02f0 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 15 May 2014 07:41:33 +0200
Subject: [PATCH 2/2] attitude_estimator_so3: Code style fixes

---
 .../attitude_estimator_so3_main.cpp                      | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
index 3653defa66..e55b011608 100755
--- a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
+++ b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Hyon Lim <limhyon@gmail.com>
- *           Anton Babushkin <anton.babushkin@me.com>
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -36,6 +34,9 @@
  /*
  * @file attitude_estimator_so3_main.cpp
  *
+ * @author Hyon Lim <limhyon@gmail.com>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ *
  * Implementation of nonlinear complementary filters on the SO(3).
  * This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer.
  * Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix.
@@ -131,7 +132,7 @@ usage(const char *reason)
  * Makefile does only apply to this management task.
  *
  * The actual stack size should be set in the call
- * to task_create().
+ * to task_spawn_cmd().
  */
 int attitude_estimator_so3_main(int argc, char *argv[])
 {