From ec5a0d5e80b3ed654bccfb22990fea68407cedc9 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 5 Sep 2015 22:17:58 +0200
Subject: [PATCH] segway: Fix code style

---
 src/modules/segway/BlockSegwayController.cpp | 12 +++++++-----
 src/modules/segway/BlockSegwayController.hpp |  5 +++--
 src/modules/segway/segway_main.cpp           | 13 +++++++------
 3 files changed, 17 insertions(+), 13 deletions(-)

diff --git a/src/modules/segway/BlockSegwayController.cpp b/src/modules/segway/BlockSegwayController.cpp
index 91230a37cb..ba7665201a 100644
--- a/src/modules/segway/BlockSegwayController.cpp
+++ b/src/modules/segway/BlockSegwayController.cpp
@@ -1,8 +1,9 @@
 #include "BlockSegwayController.hpp"
 
-void BlockSegwayController::update() {
+void BlockSegwayController::update()
+{
 	// wait for a sensor update, check for exit condition every 100 ms
-	if (poll(&_attPoll, 1, 100) < 0) return; // poll error
+	if (poll(&_attPoll, 1, 100) < 0) { return; } // poll error
 
 	uint64_t newTimeStamp = hrt_absolute_time();
 	float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
@@ -10,20 +11,21 @@ void BlockSegwayController::update() {
 
 	// check for sane values of dt
 	// to prevent large control responses
-	if (dt > 1.0f || dt < 0) return;
+	if (dt > 1.0f || dt < 0) { return; }
 
 	// set dt for all child blocks
 	setDt(dt);
 
 	// check for new updates
-	if (_param_update.updated()) updateParams();
+	if (_param_update.updated()) { updateParams(); }
 
 	// get new information from subscriptions
 	updateSubscriptions();
 
 	// default all output to zero unless handled by mode
-	for (unsigned i = 2; i < NUM_ACTUATOR_CONTROLS; i++)
+	for (unsigned i = 2; i < NUM_ACTUATOR_CONTROLS; i++) {
 		_actuators.control[i] = 0.0f;
+	}
 
 	// only update guidance in auto mode
 	if (_status.main_state == MAIN_STATE_AUTO) {
diff --git a/src/modules/segway/BlockSegwayController.hpp b/src/modules/segway/BlockSegwayController.hpp
index 4a01f785c5..4413a3cff8 100644
--- a/src/modules/segway/BlockSegwayController.hpp
+++ b/src/modules/segway/BlockSegwayController.hpp
@@ -4,10 +4,11 @@
 
 using namespace control;
 
-class BlockSegwayController : public control::BlockUorbEnabledAutopilot {
+class BlockSegwayController : public control::BlockUorbEnabledAutopilot
+{
 public:
 	BlockSegwayController() :
-		BlockUorbEnabledAutopilot(NULL,"SEG"),
+		BlockUorbEnabledAutopilot(NULL, "SEG"),
 		th2v(this, "TH2V"),
 		q2v(this, "Q2V"),
 		_attPoll(),
diff --git a/src/modules/segway/segway_main.cpp b/src/modules/segway/segway_main.cpp
index 67acd94bf7..667b2ad3fe 100644
--- a/src/modules/segway/segway_main.cpp
+++ b/src/modules/segway/segway_main.cpp
@@ -74,8 +74,9 @@ static void usage(const char *reason);
 static void
 usage(const char *reason)
 {
-	if (reason)
+	if (reason) {
 		fprintf(stderr, "%s\n", reason);
+	}
 
 	fprintf(stderr, "usage: segway {start|stop|status} [-p <additional params>]\n\n");
 	exit(1);
@@ -107,11 +108,11 @@ int segway_main(int argc, char *argv[])
 		thread_should_exit = false;
 
 		deamon_task = px4_task_spawn_cmd("segway",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 10,
-					 5120,
-					 segway_thread_main,
-					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
+						 SCHED_DEFAULT,
+						 SCHED_PRIORITY_MAX - 10,
+						 5120,
+						 segway_thread_main,
+						 (argv) ? (char *const *)&argv[2] : (char *const *)NULL);
 		exit(0);
 	}