Makefile: target to test clang-format on the entire codebase

.clang-format

@@ -0,0 +1,13 @@
+# Google C++ style as base
+Language: Cpp
+BasedOnStyle: Google
+
+# Indentation using tabs
+UseTab: ForContinuationAndIndentation
+TabWidth: 8
+IndentWidth: 8
+ContinuationIndentWidth: 8
+ConstructorInitializerIndentWidth: 8
+AccessModifierOffset: -8
+
+ColumnLimit: 120 # Allow more collumns

Makefile

@@ -375,6 +375,10 @@ format:
 	$(call colorecho,'Formatting with astyle')
 	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
 
+format_clang:
+	$(call colorecho,'Formatting with clang-format')
+	@"$(SRC_DIR)"/Tools/astyle/files_to_check_code_style.sh | xargs clang-format -i -style=file
+
 # Testing
 # --------------------------------------------------------------------
 .PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance

Tools/astyle/files_to_check_code_style.sh

@@ -8,23 +8,24 @@ if [ $# -gt 0 ]; then
 fi
 
 exec find boards msg src platforms test \
-    -path msg/templates/urtps -prune -o \
-    -path platforms/nuttx/NuttX -prune -o \
-    -path platforms/qurt/dspal -prune -o \
-    -path src/drivers/uavcan/libuavcan -prune -o \
-    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
-    -path src/drivers/cyphal/libcanard -prune -o \
-    -path src/lib/crypto/monocypher -prune -o \
-    -path src/lib/events/libevents -prune -o \
-    -path src/lib/parameters/uthash -prune -o \
-    -path src/modules/ekf2/EKF -prune -o \
-    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
-    -path src/modules/mavlink/mavlink -prune -o \
-    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
-    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
-    -path test/mavsdk_tests/catch2 -prune -o \
-    -path src/lib/crypto/monocypher -prune -o \
-    -path src/lib/crypto/libtomcrypt -prune -o \
-    -path src/lib/crypto/libtommath -prune -o \
-    -path src/modules/microdds_client/Micro-XRCE-DDS-Client -prune -o \
+    -not -path "msg/templates/urtps/*" \
+    -not -path "platforms/nuttx/NuttX/*" \
+    -not -path "platforms/qurt/dspal/*" \
+    -not -path "src/drivers/gps/devices/*" \
+    -not -path "src/drivers/uavcan/libuavcan/*" \
+    -not -path "src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis/*" \
+    -not -path "src/drivers/cyphal/libcanard/*" \
+    -not -path "src/lib/crypto/monocypher/*" \
+    -not -path "src/lib/events/libevents/*" \
+    -not -path "src/lib/parameters/uthash/*" \
+    -not -path "src/modules/ekf2/EKF/*" \
+    -not -path "src/modules/gyro_fft/CMSIS_5/*" \
+    -not -path "src/modules/mavlink/mavlink/*" \
+    -not -path "src/modules/micrortps_bridge/micro-CDR/*" \
+    -not -path "src/modules/micrortps_bridge/microRTPS_client/*" \
+    -not -path "test/mavsdk_tests/catch2/*" \
+    -not -path "src/lib/crypto/monocypher/*" \
+    -not -path "src/lib/crypto/libtomcrypt/*" \
+    -not -path "src/lib/crypto/libtommath/*" \
+    -not -path "src/modules/microdds_client/Micro-XRCE-DDS-Client/*" \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

msg/vehicle_odometry.msg

@@ -64,7 +64,5 @@ float32[21] velocity_covariance
 
 uint8 reset_counter
 
-uint8 quality
-
 # TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
 # TOPICS estimator_odometry estimator_visual_odometry_aligned

src/modules/ekf2/EKF/common.h

@@ -208,7 +208,6 @@ struct extVisionSample {
 	float       angVar{};      ///< angular heading variance (rad**2)
 	VelocityFrame vel_frame = VelocityFrame::BODY_FRAME_FRD;
 	uint8_t     reset_counter{};
-	uint8_t     quality{};     ///< quality indicator between 0 and 100
 };
 
 struct dragSample {
@@ -330,14 +329,13 @@ struct parameters {
 	float range_kin_consistency_gate{1.0f}; ///< gate size used by the range finder kinematic consistency check
 
 	// vision position fusion
-	int32_t ev_quality_minimum{0};          ///< vision minimum acceptable quality integer
 	float ev_vel_innov_gate{3.0f};          ///< vision velocity fusion innovation consistency gate size (STD)
 	float ev_pos_innov_gate{5.0f};          ///< vision position fusion innovation consistency gate size (STD)
 
 	// optical flow fusion
 	float flow_noise{0.15f};                ///< observation noise for optical flow LOS rate measurements (rad/sec)
 	float flow_noise_qual_min{0.5f};        ///< observation noise for optical flow LOS rate measurements when flow sensor quality is at the minimum useable (rad/sec)
-	int32_t flow_qual_min{1};               ///< minimum acceptable quality integer from the flow sensor
+	int32_t flow_qual_min{1};               ///< minimum acceptable quality integer from  the flow sensor
 	float flow_innov_gate{3.0f};            ///< optical flow fusion innovation consistency gate size (STD)
 
 	// these parameters control the strictness of GPS quality checks used to determine if the GPS is

src/modules/ekf2/EKF/control.cpp

@@ -201,7 +201,7 @@ void Ekf::controlFusionModes()
 void Ekf::controlExternalVisionFusion()
 {
 	// Check for new external vision data
-	if (_ev_data_ready && _ev_sample_delayed.quality >= _params.ev_quality_minimum) {
+	if (_ev_data_ready) {
 
 		bool reset = false;
 

src/modules/ekf2/EKF2.cpp

@@ -120,7 +120,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_rng_a_igate(_params->range_aid_innov_gate),
 	_param_ekf2_rng_qlty_t(_params->range_valid_quality_s),
 	_param_ekf2_rng_k_gate(_params->range_kin_consistency_gate),
-	_param_ekf2_ev_qmin(_params->ev_quality_minimum),
 	_param_ekf2_evv_gate(_params->ev_vel_innov_gate),
 	_param_ekf2_evp_gate(_params->ev_pos_innov_gate),
 	_param_ekf2_of_n_min(_params->flow_noise),
@@ -1701,9 +1700,6 @@ bool EKF2::UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps, vehicle_odo
 		// use timestamp from external computer, clocks are synchronized when using MAVROS
 		ev_data.time_us = ev_odom.timestamp_sample;
 
-		ev_data.reset_counter = ev_odom.reset_counter;
-		ev_data.quality = ev_odom.quality;
-
 		if (new_ev_odom)  {
 			_ekf.setExtVisionData(ev_data);
 		}

src/modules/ekf2/EKF2.hpp

@@ -469,8 +469,8 @@ private:
 		_param_ekf2_rng_k_gate, ///< range finder kinematic consistency gate size (STD)
 
 		// vision estimate fusion
-		(ParamInt<px4::params::EKF2_EV_NOISE_MD>) _param_ekf2_ev_noise_md, ///< determine source of vision observation noise
-		(ParamExtInt<px4::params::EKF2_EV_QMIN>) _param_ekf2_ev_qmin,
+		(ParamInt<px4::params::EKF2_EV_NOISE_MD>)
+		_param_ekf2_ev_noise_md,	///< determine source of vision observation noise
 		(ParamFloat<px4::params::EKF2_EVP_NOISE>)
 		_param_ekf2_evp_noise,	///< default position observation noise for exernal vision measurements (m)
 		(ParamFloat<px4::params::EKF2_EVV_NOISE>)

src/modules/ekf2/ekf2_params.c

@@ -721,16 +721,6 @@ PARAM_DEFINE_FLOAT(EKF2_MIN_RNG, 0.1f);
  */
 PARAM_DEFINE_INT32(EKF2_EV_NOISE_MD, 0);
 
-/**
- * Vision minimum quality
- *
- * @group EKF2
- * @min 0
- * @max 100
- * @decimal 1
- */
-PARAM_DEFINE_INT32(EKF2_EV_QMIN, 0);
-
 /**
  * Measurement noise for vision position observations used to lower bound or replace the uncertainty included in the message
  *

src/modules/mavlink/mavlink_receiver.cpp

@@ -1415,7 +1415,6 @@ MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg)
 	}
 
 	odometry.reset_counter = odom.reset_counter;
-	odometry.quality = odom.quality;
 
 	/**
 	 * Supported local frame of reference is MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_FRD

src/modules/mavlink/streams/ODOMETRY.hpp

@@ -160,7 +160,6 @@ private:
 			}
 
 			msg.reset_counter = odom.reset_counter;
-			msg.quality = odom.quality;
 
 			mavlink_msg_odometry_send_struct(_mavlink->get_channel(), &msg);