From f67ac8ba0015ef46a45374a737fe7eb67ba12ffe Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 15 Aug 2017 12:58:11 -0400
Subject: [PATCH] land detector clang-tidy trivial changes

---
 .../land_detector/FixedwingLandDetector.h     |  2 +-
 src/modules/land_detector/LandDetector.cpp    |  2 +-
 .../land_detector/MulticopterLandDetector.cpp | 11 ++------
 .../land_detector/RoverLandDetector.cpp       |  6 +----
 src/modules/land_detector/RoverLandDetector.h |  2 +-
 .../land_detector/VtolLandDetector.cpp        |  2 +-
 .../land_detector/land_detector_main.cpp      | 27 ++++++++-----------
 7 files changed, 18 insertions(+), 34 deletions(-)

diff --git a/src/modules/land_detector/FixedwingLandDetector.h b/src/modules/land_detector/FixedwingLandDetector.h
index 9037d0aa00..1835506134 100644
--- a/src/modules/land_detector/FixedwingLandDetector.h
+++ b/src/modules/land_detector/FixedwingLandDetector.h
@@ -51,7 +51,7 @@
 namespace land_detector
 {
 
-class FixedwingLandDetector : public LandDetector
+class FixedwingLandDetector final : public LandDetector
 {
 public:
 	FixedwingLandDetector();
diff --git a/src/modules/land_detector/LandDetector.cpp b/src/modules/land_detector/LandDetector.cpp
index b8b20d8ab0..97b6ba0354 100644
--- a/src/modules/land_detector/LandDetector.cpp
+++ b/src/modules/land_detector/LandDetector.cpp
@@ -78,7 +78,7 @@ void LandDetector::_cycle()
 {
 	perf_begin(_cycle_perf);
 
-	if (!_object) { // not initialized yet
+	if (_object == nullptr) { // not initialized yet
 		// Advertise the first land detected uORB.
 		_landDetected.timestamp = hrt_absolute_time();
 		_landDetected.freefall = false;
diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp
index fa018ff3f3..d9d6ba9c9a 100644
--- a/src/modules/land_detector/MulticopterLandDetector.cpp
+++ b/src/modules/land_detector/MulticopterLandDetector.cpp
@@ -291,14 +291,7 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
 		// if this persists for 8 seconds AND the drone is not
 		// falling consider it to be landed. This should even sustain
 		// quite acrobatic flight.
-		if ((_min_trust_start > 0) &&
-		    (hrt_elapsed_time(&_min_trust_start) > 8000000)) {
-
-			return true;
-
-		} else {
-			return false;
-		}
+		return (_min_trust_start > 0) && (hrt_elapsed_time(&_min_trust_start) > 8000000);
 	}
 
 	if (_ground_contact_hysteresis.get_state() && _has_minimal_thrust() && !rotating) {
@@ -416,4 +409,4 @@ bool MulticopterLandDetector::_has_minimal_thrust()
 	return _actuators.control[3] <= sys_min_throttle;
 }
 
-}
+} // namespace land_detector
diff --git a/src/modules/land_detector/RoverLandDetector.cpp b/src/modules/land_detector/RoverLandDetector.cpp
index 709be17470..9d87f5ce6c 100644
--- a/src/modules/land_detector/RoverLandDetector.cpp
+++ b/src/modules/land_detector/RoverLandDetector.cpp
@@ -46,10 +46,6 @@
 namespace land_detector
 {
 
-RoverLandDetector::RoverLandDetector()
-{
-}
-
 void RoverLandDetector::_initialize_topics()
 {
 }
@@ -88,4 +84,4 @@ float RoverLandDetector::_get_max_altitude()
 	return 0.0f;
 }
 
-}
+} // namespace land_detector
diff --git a/src/modules/land_detector/RoverLandDetector.h b/src/modules/land_detector/RoverLandDetector.h
index 151733566b..1d7f4b5ebb 100644
--- a/src/modules/land_detector/RoverLandDetector.h
+++ b/src/modules/land_detector/RoverLandDetector.h
@@ -51,7 +51,7 @@ namespace land_detector
 class RoverLandDetector : public LandDetector
 {
 public:
-	RoverLandDetector();
+	RoverLandDetector() = default;
 
 protected:
 	virtual void _initialize_topics() override;
diff --git a/src/modules/land_detector/VtolLandDetector.cpp b/src/modules/land_detector/VtolLandDetector.cpp
index 5ef6db0db4..0be1d2540b 100644
--- a/src/modules/land_detector/VtolLandDetector.cpp
+++ b/src/modules/land_detector/VtolLandDetector.cpp
@@ -114,4 +114,4 @@ void VtolLandDetector::_update_params()
 	param_get(_paramHandle.maxAirSpeed, &_params.maxAirSpeed);
 }
 
-}
+} // namespace land_detector
diff --git a/src/modules/land_detector/land_detector_main.cpp b/src/modules/land_detector/land_detector_main.cpp
index d25d3b8103..afc6f18130 100644
--- a/src/modules/land_detector/land_detector_main.cpp
+++ b/src/modules/land_detector/land_detector_main.cpp
@@ -39,22 +39,17 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
+#include <drivers/drv_hrt.h>
 #include <px4_config.h>
 #include <px4_defines.h>
-#include <px4_tasks.h>
 #include <px4_posix.h>
-#include <unistd.h>					//usleep
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <drivers/drv_hrt.h>
-#include <systemlib/systemlib.h>	//Scheduler
+#include <px4_tasks.h>
+#include <systemlib/systemlib.h>
 
 #include "FixedwingLandDetector.h"
 #include "MulticopterLandDetector.h"
-#include "VtolLandDetector.h"
 #include "RoverLandDetector.h"
+#include "VtolLandDetector.h"
 
 
 namespace land_detector
@@ -73,16 +68,16 @@ int LandDetector::task_spawn(int argc, char *argv[])
 
 	LandDetector *obj;
 
-	if (!strcmp(argv[1], "fixedwing")) {
+	if (strcmp(argv[1], "fixedwing") == 0) {
 		obj = new FixedwingLandDetector();
 
-	} else if (!strcmp(argv[1], "multicopter")) {
+	} else if (strcmp(argv[1], "multicopter") == 0) {
 		obj = new MulticopterLandDetector();
 
-	} else if (!strcmp(argv[1], "vtol")) {
+	} else if (strcmp(argv[1], "vtol") == 0) {
 		obj = new VtolLandDetector();
 
-	} else if (!strcmp(argv[1], "ugv")) {
+	} else if (strcmp(argv[1], "ugv") == 0) {
 		obj = new RoverLandDetector();
 
 	} else {
@@ -90,7 +85,7 @@ int LandDetector::task_spawn(int argc, char *argv[])
 		return -1;
 	}
 
-	if (!obj) {
+	if (obj == nullptr) {
 		PX4_ERR("alloc failed");
 		return -1;
 	}
@@ -139,7 +134,7 @@ int LandDetector::print_status()
 
 int LandDetector::print_usage(const char *reason)
 {
-	if (reason) {
+	if (reason != nullptr) {
 		PX4_ERR("%s\n", reason);
 	}
 
@@ -182,4 +177,4 @@ int land_detector_main(int argc, char *argv[])
 	return LandDetector::main(argc, argv);
 }
 
-}
+} // namespace land_detector