Fixed code style for multirotor_att_control app

apps/multirotor_att_control/multirotor_att_control_main.c

@@ -171,6 +171,7 @@ mc_thread_main(int argc, char *argv[])
 		if (ret < 0) {
 			/* poll error, count it in perf */
 			perf_count(mc_err_perf);
+
 		} else if (ret == 0) {
 			/* no return value, ignore */
 		} else {
@@ -193,9 +194,11 @@ mc_thread_main(int argc, char *argv[])
 				/* get a local copy of system state */
 				bool updated;
 				orb_check(state_sub, &updated);
+
 				if (updated) {
 					orb_copy(ORB_ID(vehicle_status), state_sub, &state);
 				}
+
 				/* get a local copy of manual setpoint */
 				orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
 				/* get a local copy of attitude */
@@ -204,9 +207,11 @@ mc_thread_main(int argc, char *argv[])
 				orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
 				/* get a local copy of rates setpoint */
 				orb_check(setpoint_sub, &updated);
+
 				if (updated) {
 					orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp);
 				}
+
 				/* get a local copy of the current sensor values */
 				orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
 
@@ -222,6 +227,7 @@ mc_thread_main(int argc, char *argv[])
 //						printf("thrust_rate=%8.4f\n",offboard_sp.p4);
 						rates_sp.timestamp = hrt_absolute_time();
 						orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
+
 					} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
 						att_sp.roll_body = offboard_sp.p1;
 						att_sp.pitch_body = offboard_sp.p2;
@@ -264,6 +270,7 @@ mc_thread_main(int argc, char *argv[])
 							 */
 							if (isfinite(manual.throttle) && manual.throttle > 0.2f) {
 								att_sp.thrust = failsafe_throttle;
+
 							} else {
 								att_sp.thrust = 0.0f;
 							}
@@ -295,6 +302,7 @@ mc_thread_main(int argc, char *argv[])
 								if (state.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE) {
 									rates_sp.yaw = manual.yaw;
 									control_yaw_position = false;
+
 								} else {
 									/*
 									 * This mode SHOULD be the default mode, which is:
@@ -309,11 +317,13 @@ mc_thread_main(int argc, char *argv[])
 										rates_sp.yaw = manual.yaw;
 										control_yaw_position = false;
 										first_time_after_yaw_speed_control = true;
+
 									} else {
 										if (first_time_after_yaw_speed_control) {
 											att_sp.yaw_body = att.yaw;
 											first_time_after_yaw_speed_control = false;
 										}
+
 										control_yaw_position = true;
 									}
 								}
@@ -367,6 +377,7 @@ mc_thread_main(int argc, char *argv[])
 				/* get current rate setpoint */
 				bool rates_sp_valid = false;
 				orb_check(rates_sp_sub, &rates_sp_valid);
+
 				if (rates_sp_valid) {
 					orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp);
 				}
@@ -394,6 +405,7 @@ mc_thread_main(int argc, char *argv[])
 	/* kill all outputs */
 	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
 		actuators.control[i] = 0.0f;
+
 	orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 
 
@@ -415,6 +427,7 @@ usage(const char *reason)
 {
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
+
 	fprintf(stderr, "usage: multirotor_att_control [-m <mode>] [-t] {start|status|stop}\n");
 	fprintf(stderr, "    <mode> is 'rates' or 'attitude'\n");
 	fprintf(stderr, "    -t enables motor test mode with 10%% thrust\n");
@@ -432,15 +445,18 @@ int multirotor_att_control_main(int argc, char *argv[])
 			motor_test_mode = true;
 			optioncount += 1;
 			break;
+
 		case ':':
 			usage("missing parameter");
 			break;
+
 		default:
 			fprintf(stderr, "option: -%c\n", ch);
 			usage("unrecognized option");
 			break;
 		}
 	}
+
 	argc -= optioncount;
 	//argv += optioncount;
 

apps/multirotor_att_control/multirotor_attitude_control.c

@@ -165,9 +165,11 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 	float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
 	float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
 	last_run = hrt_absolute_time();
+
 	if (last_input != att_sp->timestamp) {
 		last_input = att_sp->timestamp;
 	}
+
 	static int sensor_delay;
 	sensor_delay = hrt_absolute_time() - att->timestamp;
 
@@ -233,12 +235,14 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 
 		if (yaw_error > M_PI_F) {
 			yaw_error -= M_TWOPI_F;
+
 		} else if (yaw_error < -M_PI_F) {
 			yaw_error += M_TWOPI_F;
 		}
 
 		rates_sp->yaw = p.yaw_p * (yaw_error) - (p.yaw_d * att->yawspeed);
 	}
+
 	rates_sp->thrust = att_sp->thrust;
 
 	motor_skip_counter++;

apps/multirotor_att_control/multirotor_rate_control.c

@@ -157,6 +157,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	static uint64_t last_input = 0;
 
 	float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
+
 	if (last_input != rate_sp->timestamp) {
 		last_input = rate_sp->timestamp;
 	}
@@ -189,9 +190,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 
 	/* control pitch (forward) output */
 	float pitch_control = p.attrate_p * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last);
+
 	/* increase resilience to faulty control inputs */
 	if (isfinite(pitch_control)) {
 		pitch_control_last = pitch_control;
+
 	} else {
 		pitch_control = 0.0f;
 		warnx("rej. NaN ctrl pitch");
@@ -199,9 +202,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 
 	/* control roll (left/right) output */
 	float roll_control = p.attrate_p * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last);
+
 	/* increase resilience to faulty control inputs */
 	if (isfinite(roll_control)) {
 		roll_control_last = roll_control;
+
 	} else {
 		roll_control = 0.0f;
 		warnx("rej. NaN ctrl roll");
@@ -209,6 +214,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 
 	/* control yaw rate */
 	float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
+
 	/* increase resilience to faulty control inputs */
 	if (!isfinite(yaw_rate_control)) {
 		yaw_rate_control = 0.0f;