Fixed wing backside controller: Fix code style

src/modules/fixedwing_backside/fixedwing.cpp

@@ -58,8 +58,8 @@ BlockYawDamper::~BlockYawDamper() {};
 
 void BlockYawDamper::update(float rCmd, float r, float outputScale)
 {
-	_rudder = outputScale*_r2Rdr.update(rCmd -
-				_rWashout.update(_rLowPass.update(r)));
+	_rudder = outputScale * _r2Rdr.update(rCmd -
+					      _rWashout.update(_rLowPass.update(r)));
 }
 
 BlockStabilization::BlockStabilization(SuperBlock *parent, const char *name) :
@@ -79,9 +79,9 @@ BlockStabilization::~BlockStabilization() {};
 void BlockStabilization::update(float pCmd, float qCmd, float rCmd,
 				float p, float q, float r, float outputScale)
 {
-	_aileron = outputScale*_p2Ail.update(
+	_aileron = outputScale * _p2Ail.update(
 			   pCmd - _pLowPass.update(p));
-	_elevator = outputScale*_q2Elv.update(
+	_elevator = outputScale * _q2Elv.update(
 			    qCmd - _qLowPass.update(q));
 	_yawDamper.update(rCmd, r, outputScale);
 }
@@ -127,7 +127,7 @@ BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *par
 void BlockMultiModeBacksideAutopilot::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;
@@ -135,7 +135,7 @@ void BlockMultiModeBacksideAutopilot::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);
@@ -146,14 +146,15 @@ void BlockMultiModeBacksideAutopilot::update()
 	}
 
 	// 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 = 4; i < NUM_ACTUATOR_CONTROLS; i++)
+	for (unsigned i = 4; i < NUM_ACTUATOR_CONTROLS; i++) {
 		_actuators.control[i] = 0.0f;
+	}
 
 	// only update guidance in auto mode
 	if (_status.main_state == MAIN_STATE_AUTO) {
@@ -170,13 +171,13 @@ void BlockMultiModeBacksideAutopilot::update()
 	if (_status.main_state == MAIN_STATE_AUTO) {
 
 		// calculate velocity, XXX should be airspeed,
-		// but using ground speed for now for the purpose 
+		// but using ground speed for now for the purpose
 		// of control we will limit the velocity feedback between
 		// the min/max velocity
 		float v = _vLimit.update(sqrtf(
-					_pos.vel_n * _pos.vel_n +
-					_pos.vel_e * _pos.vel_e +
-					_pos.vel_d * _pos.vel_d));
+						 _pos.vel_n * _pos.vel_n +
+						 _pos.vel_e * _pos.vel_e +
+						 _pos.vel_d * _pos.vel_d));
 
 		// limit velocity command between min/max velocity
 		float vCmd = _vLimit.update(_vCmd.get());
@@ -198,8 +199,8 @@ void BlockMultiModeBacksideAutopilot::update()
 		float rCmd = 0;
 
 		// stabilization
-		float velocityRatio = _trimV.get()/v;
-		float outputScale = velocityRatio*velocityRatio;
+		float velocityRatio = _trimV.get() / v;
+		float outputScale = velocityRatio * velocityRatio;
 		// this term scales the output based on the dynamic pressure change from trim
 		_stabilization.update(pCmd, qCmd, rCmd,
 				      _att.rollspeed, _att.pitchspeed, _att.yawspeed,
@@ -230,15 +231,15 @@ void BlockMultiModeBacksideAutopilot::update()
 		_actuators.control[CH_THR] = _manual.throttle;
 
 	} else if (_status.main_state == MAIN_STATE_ALTCTL ||
-		_status.main_state == MAIN_STATE_POSCTL /* TODO, implement pos control */) {
+		   _status.main_state == MAIN_STATE_POSCTL /* TODO, implement pos control */) {
 
 		// calculate velocity, XXX should be airspeed, but using ground speed for now
 		// for the purpose of control we will limit the velocity feedback between
 		// the min/max velocity
 		float v = _vLimit.update(sqrtf(
-					_pos.vel_n * _pos.vel_n +
-					_pos.vel_e * _pos.vel_e +
-					_pos.vel_d * _pos.vel_d));
+						 _pos.vel_n * _pos.vel_n +
+						 _pos.vel_e * _pos.vel_e +
+						 _pos.vel_d * _pos.vel_d));
 
 		// pitch channel -> rate of climb
 		// TODO, might want to put a gain on this, otherwise commanding
@@ -253,8 +254,8 @@ void BlockMultiModeBacksideAutopilot::update()
 		// throttle channel -> velocity
 		// negative sign because nose over to increase speed
 		float vCmd = _vLimit.update(_manual.throttle *
-				(_vLimit.getMax() - _vLimit.getMin()) +
-				_vLimit.getMin());
+					    (_vLimit.getMax() - _vLimit.getMin()) +
+					    _vLimit.getMin());
 		float thetaCmd = _theLimit.update(-_v2Theta.update(vCmd - v));
 		float qCmd = _theta2Q.update(thetaCmd - _att.pitch);
 
@@ -263,7 +264,7 @@ void BlockMultiModeBacksideAutopilot::update()
 
 		// stabilization
 		_stabilization.update(pCmd, qCmd, rCmd,
-					  _att.rollspeed, _att.pitchspeed, _att.yawspeed);
+				      _att.rollspeed, _att.pitchspeed, _att.yawspeed);
 
 		// output
 		_actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get();
@@ -284,14 +285,17 @@ void BlockMultiModeBacksideAutopilot::update()
 		if (_status.hil_state != HIL_STATE_ON) {
 			/* limit to value of manual throttle */
 			_actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
-							 _actuators.control[CH_THR] : _manual.throttle;
+						     _actuators.control[CH_THR] : _manual.throttle;
 		}
-	// body rates controller, disabled for now
-	// TODO
-	} else if (0 /*_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS*/) {	// TODO use vehicle_control_mode here?
+
+		// body rates controller, disabled for now
+		// TODO
+
+	} else if (
+		0 /*_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS*/) {	// TODO use vehicle_control_mode here?
 
 		_stabilization.update(_manual.roll, _manual.pitch, _manual.yaw,
-					  _att.rollspeed, _att.pitchspeed, _att.yawspeed);
+				      _att.rollspeed, _att.pitchspeed, _att.yawspeed);
 
 		_actuators.control[CH_AIL] = _stabilization.getAileron();
 		_actuators.control[CH_ELV] = _stabilization.getElevator();
@@ -307,8 +311,9 @@ BlockMultiModeBacksideAutopilot::~BlockMultiModeBacksideAutopilot()
 {
 	// send one last publication when destroyed, setting
 	// all output to zero
-	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
 		_actuators.control[i] = 0.0f;
+	}
 
 	updatePublications();
 }

src/modules/fixedwing_backside/fixedwing_backside_main.cpp

@@ -79,8 +79,9 @@ static void usage(const char *reason);
 static void
 usage(const char *reason)
 {
-	if (reason)
+	if (reason) {
 		fprintf(stderr, "%s\n", reason);
+	}
 
 	fprintf(stderr, "usage: fixedwing_backside {start|stop|status} [-p <additional params>]\n\n");
 	exit(1);
@@ -112,11 +113,11 @@ int fixedwing_backside_main(int argc, char *argv[])
 		thread_should_exit = false;
 
 		deamon_task = px4_task_spawn_cmd("fixedwing_backside",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 10,
-					 5120,
-					 control_demo_thread_main,
-					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
+						 SCHED_DEFAULT,
+						 SCHED_PRIORITY_MAX - 10,
+						 5120,
+						 control_demo_thread_main,
+						 (argv) ? (char *const *)&argv[2] : (char *const *)NULL);
 		exit(0);
 	}