Expand auto-format coverage and tiny style changes

EKF/imu_down_sampler.cpp

@@ -1,24 +1,18 @@
 #include "imu_down_sampler.hpp"
 
-ImuDownSampler::ImuDownSampler(float target_dt_sec):
-_target_dt{target_dt_sec},
-_imu_collection_time_adj{0.0f}
-{
+ImuDownSampler::ImuDownSampler(float target_dt_sec) : _target_dt{target_dt_sec}, _imu_collection_time_adj{0.0f} {
 	reset();
 	_imu_down_sampled.time_us = 0.0f;
 }
 
-ImuDownSampler::~ImuDownSampler()
-{
-}
+ImuDownSampler::~ImuDownSampler() {}
 
 // integrate imu samples until target dt reached
 // assumes that dt of the gyroscope is close to the dt of the accelerometer
 // returns true if target dt is reached
-bool ImuDownSampler::update(imuSample imu_sample_new)
-{
-	if(_do_reset)
-	{
+bool ImuDownSampler::update(imuSample imu_sample_new) {
+
+	if (_do_reset) {
 		reset();
 	}
 	// accumulate time deltas
@@ -42,11 +36,11 @@ bool ImuDownSampler::update(imuSample imu_sample_new)
 
 	// check if the target time delta between filter prediction steps has been exceeded
 	if (_imu_down_sampled.delta_ang_dt >= _target_dt - _imu_collection_time_adj) {
-
 		// accumulate the amount of time to advance the IMU collection time so that we meet the
 		// average EKF update rate requirement
 		_imu_collection_time_adj += 0.01f * (_imu_down_sampled.delta_ang_dt - _target_dt);
-		_imu_collection_time_adj = math::constrain(_imu_collection_time_adj, -0.5f * _target_dt, 0.5f * _target_dt);
+		_imu_collection_time_adj = math::constrain(_imu_collection_time_adj, -0.5f * _target_dt,
+							   0.5f * _target_dt);
 
 		_imu_down_sampled.delta_ang = _delta_angle_accumulated.to_axis_angle();
 
@@ -57,14 +51,12 @@ bool ImuDownSampler::update(imuSample imu_sample_new)
 	}
 }
 
-imuSample ImuDownSampler::getDownSampledImuAndTriggerReset()
-{
+imuSample ImuDownSampler::getDownSampledImuAndTriggerReset() {
 	_do_reset = true;
 	return _imu_down_sampled;
 }
 
-void ImuDownSampler::reset()
-{
+void ImuDownSampler::reset() {
 	_imu_down_sampled.delta_ang.setZero();
 	_imu_down_sampled.delta_vel.setZero();
 	_imu_down_sampled.delta_ang_dt = 0.0f;