vtol_att_control astyle

Tools/check_code_style_all.sh

@@ -37,6 +37,7 @@ find \
     src/modules/systemlib \
     src/modules/unit_test \
     src/modules/uORB \
+    src/modules/vtol_att_control \
     src/platforms \
     src/systemcmds \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) \

src/modules/vtol_att_control/standard.cpp

@@ -155,7 +155,7 @@ void Standard::update_vtol_state()
 			// transition to MC mode if transition time has passed
 			// XXX: base this on XY hold velocity of MC
 			if (hrt_elapsed_time(&_vtol_schedule.transition_start) >
-				(_params_standard.back_trans_dur * 1000000.0f)) {
+			    (_params_standard.back_trans_dur * 1000000.0f)) {
 				_vtol_schedule.flight_mode = MC_MODE;
 			}
 		}
@@ -236,7 +236,7 @@ void Standard::update_transition_state()
 		    (float)hrt_elapsed_time(&_vtol_schedule.transition_start) > (_params_standard.front_trans_time_min * 1000000.0f)
 		   ) {
 			float weight = 1.0f - fabsf(_airspeed->indicated_airspeed_m_s - _params_standard.airspeed_blend) /
-					   _airspeed_trans_blend_margin;
+				       _airspeed_trans_blend_margin;
 			_mc_roll_weight = weight;
 			_mc_pitch_weight = weight;
 			_mc_yaw_weight = weight;
@@ -300,18 +300,19 @@ void Standard::update_mc_state()
 
 	// get projection of thrust vector on body x axis. This is used to
 	// determine the desired forward acceleration which we want to achieve with the pusher
-	math::Matrix<3,3> R(&_v_att->R[0]);
+	math::Matrix<3, 3> R(&_v_att->R[0]);
-	math::Matrix<3,3> R_sp(&_v_att_sp->R_body[0]);
+	math::Matrix<3, 3> R_sp(&_v_att_sp->R_body[0]);
-	math::Vector<3> thrust_sp_axis(-R_sp(0,2), -R_sp(1,2), -R_sp(2,2));
+	math::Vector<3> thrust_sp_axis(-R_sp(0, 2), -R_sp(1, 2), -R_sp(2, 2));
 	math::Vector<3> euler = R.to_euler();
 	R.from_euler(0, 0, euler(2));
-	math::Vector<3> body_x_zero_tilt(R(0,0), R(1,0), R(2,0));
+	math::Vector<3> body_x_zero_tilt(R(0, 0), R(1, 0), R(2, 0));
 
 	// we are using a parameter to scale the thrust value in order to compensate for highly over/under-powered motors
 	_pusher_throttle = body_x_zero_tilt * thrust_sp_axis * _v_att_sp->thrust * _params_standard.forward_thurst_scale;
 	_pusher_throttle = _pusher_throttle < 0.0f ? 0.0f : _pusher_throttle;
 
-	float pitch_sp_corrected = _v_att_sp->pitch_body < -_params_standard.down_pitch_max ? -_params_standard.down_pitch_max : _v_att_sp->pitch_body;
+	float pitch_sp_corrected = _v_att_sp->pitch_body < -_params_standard.down_pitch_max ? -_params_standard.down_pitch_max :
+				   _v_att_sp->pitch_body;
 
 	// compute new desired rotation matrix with corrected pitch angle
 	// and copy data to attitude setpoint topic

src/modules/vtol_att_control/standard.h

@@ -103,7 +103,7 @@ private:
 	} _vtol_schedule;
 
 	bool _flag_enable_mc_motors;
-	float _pusher_throttle;	
+	float _pusher_throttle;
 	float _airspeed_trans_blend_margin;
 
 	void set_max_mc(unsigned pwm_value);

src/modules/vtol_att_control/tailsitter.cpp

@@ -250,9 +250,9 @@ void Tailsitter::update_transition_state()
 		/** create time dependant throttle signal higher than  in MC and growing untill  P2 switch speed reached */
 		if (_airspeed->indicated_airspeed_m_s <= _params_tailsitter.airspeed_trans) {
 			_thrust_transition = _thrust_transition_start + (fabsf(THROTTLE_TRANSITION_MAX * _thrust_transition_start) *
-					    (float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur * 1000000.0f));
+					     (float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur * 1000000.0f));
 			_thrust_transition = math::constrain(_thrust_transition , _thrust_transition_start ,
-							    (1.0f + THROTTLE_TRANSITION_MAX) * _thrust_transition_start);
+							     (1.0f + THROTTLE_TRANSITION_MAX) * _thrust_transition_start);
 			_v_att_sp->thrust = _thrust_transition;
 		}
 

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -491,6 +491,7 @@ VtolAttitudeControl::is_fixed_wing_requested()
 	if (_abort_front_transition) {
 		if (to_fw) {
 			to_fw = false;
+
 		} else {
 			// the state changed to mc mode, reset the abort request
 			_abort_front_transition = false;
@@ -507,7 +508,7 @@ VtolAttitudeControl::is_fixed_wing_requested()
 void
 VtolAttitudeControl::abort_front_transition()
 {
-	if(!_abort_front_transition) {
+	if (!_abort_front_transition) {
 		mavlink_log_critical(&_mavlink_log_pub, "Front transition timeout occured, aborting");
 		_abort_front_transition = true;
 		_vtol_vehicle_status.vtol_transition_failsafe = true;
@@ -789,8 +790,8 @@ void VtolAttitudeControl::task_main()
 
 		/* Only publish if the proper mode(s) are 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);
 

src/modules/vtol_att_control/vtol_type.cpp

@@ -128,6 +128,7 @@ void VtolType::set_idle_fw()
 	}
 
 	struct pwm_output_values pwm_values;
+
 	memset(&pwm_values, 0, sizeof(pwm_values));
 
 	for (int i = 0; i < _params->vtol_motor_count; i++) {