code-style fixes

src/modules/mavlink/mavlink_messages.cpp

@@ -2374,7 +2374,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamVtolState(MavlinkStreamVtolState &);
-	MavlinkStreamVtolState& operator = (const MavlinkStreamVtolState &);
+	MavlinkStreamVtolState &operator = (const MavlinkStreamVtolState &);
 
 protected:
 	explicit MavlinkStreamVtolState(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -2388,25 +2388,25 @@ protected:
 		if (_status_sub->update(&status)) {
 			mavlink_vtol_state_t msg;
 
-			if (status.is_vtol)
+			if (status.is_vtol) {
-			{
+				if (status.is_rotary_wing) {
-				if (status.is_rotary_wing)
-				{
 					if (status.in_transition_mode) {
 						msg.state = MAV_VTOL_STATE_TRANSITION_TO_FW;
+
 					} else {
 						msg.state = MAV_VTOL_STATE_MC;
 					}
-				}
+
-				else {
+				} else {
 					if (status.in_transition_mode) {
 						msg.state = MAV_VTOL_STATE_TRANSITION_TO_MC;
+
 					} else {
 						msg.state = MAV_VTOL_STATE_FW;
 					}
 				}
-			}
+
-			else {
+			} else {
 				msg.state = MAV_VTOL_STATE_UNDEFINED;
 			}
 

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -318,7 +318,8 @@ VtolAttitudeControl::vehicle_local_pos_poll()
 * Check for command updates.
 */
 void
-VtolAttitudeControl::vehicle_cmd_poll() {
+VtolAttitudeControl::vehicle_cmd_poll()
+{
 	bool updated;
 	orb_check(_vehicle_cmd_sub, &updated);
 
@@ -332,7 +333,8 @@ VtolAttitudeControl::vehicle_cmd_poll() {
 * Check received command
 */
 void
-VtolAttitudeControl::handle_command() {
+VtolAttitudeControl::handle_command()
+{
 	// update transition command if necessary
 	if (_vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION) {
 		_transition_command = int(_vehicle_cmd.param1 + 0.5f);
@@ -347,10 +349,12 @@ bool
 VtolAttitudeControl::is_fixed_wing_requested()
 {
 	bool to_fw = _manual_control_sp.aux1 > 0.0f;
- 	if (_v_control_mode.flag_control_offboard_enabled) {
+
- 		to_fw = _transition_command == vehicle_status_s::VEHICLE_VTOL_STATE_FW;
+	if (_v_control_mode.flag_control_offboard_enabled) {
- 	}
+		to_fw = _transition_command == vehicle_status_s::VEHICLE_VTOL_STATE_FW;
- 	return to_fw;
+	}
+
+	return to_fw;
 }
 
 /**
@@ -531,12 +535,11 @@ void VtolAttitudeControl::task_main()
 		_vtol_type->update_vtol_state();
 
 		// reset transition command if not in offboard control
-		if (!_v_control_mode.flag_control_offboard_enabled)
+		if (!_v_control_mode.flag_control_offboard_enabled) {
-		{
 			if (_vtol_type->get_mode() == ROTARY_WING) {
 				_transition_command = vehicle_status_s::VEHICLE_VTOL_STATE_MC;
-			}
+
-			else if (_vtol_type->get_mode() == FIXED_WING) {
+			} else if (_vtol_type->get_mode() == FIXED_WING) {
 				_transition_command = vehicle_status_s::VEHICLE_VTOL_STATE_FW;
 			}
 		}
@@ -555,6 +558,7 @@ void VtolAttitudeControl::task_main()
 
 				fill_mc_att_rates_sp();
 			}
+
 		} else if (_vtol_type->get_mode() == FIXED_WING) {
 			// vehicle is in fw mode
 			_vtol_vehicle_status.vtol_in_rw_mode = false;
@@ -569,11 +573,13 @@ void VtolAttitudeControl::task_main()
 
 				fill_fw_att_rates_sp();
 			}
+
 		} else if (_vtol_type->get_mode() == TRANSITION) {
 			// vehicle is doing a transition
 			_vtol_vehicle_status.vtol_in_trans_mode = true;
 
 			bool got_new_data = false;
+
 			if (fds[0].revents & POLLIN) {
 				orb_copy(ORB_ID(actuator_controls_virtual_mc), _actuator_inputs_mc, &_actuators_mc_in);
 				got_new_data = true;
@@ -598,29 +604,30 @@ void VtolAttitudeControl::task_main()
 		_vtol_type->fill_actuator_outputs();
 
 		/* Only publish if the proper mode(s) are enabled */
-		if(_v_control_mode.flag_control_attitude_enabled ||
+		if (_v_control_mode.flag_control_attitude_enabled ||
-		   _v_control_mode.flag_control_rates_enabled ||
+		    _v_control_mode.flag_control_rates_enabled ||
-		   _v_control_mode.flag_control_manual_enabled)
+		    _v_control_mode.flag_control_manual_enabled) {
-		{
 			if (_actuators_0_pub != nullptr) {
 				orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
+
 			} else {
 				_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
 			}
 
 			if (_actuators_1_pub != nullptr) {
 				orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
+
 			} else {
 				_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
 			}
 		}
 
 		// publish the attitude rates setpoint
-		if(_v_rates_sp_pub != nullptr) {
+		if (_v_rates_sp_pub != nullptr) {
-			orb_publish(ORB_ID(vehicle_rates_setpoint),_v_rates_sp_pub,&_v_rates_sp);
+			orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
-		}
+
-		else {
+		} else {
-			_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint),&_v_rates_sp);
+			_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
 		}
 	}