Fixed code style for mavlink app

12 files changed, 336 insertions, 263 deletions

diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index ccc9d6d7d..2ec459ddc 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -156,12 +156,15 @@ set_hil_on_off(bool hil_enabled)
 		if (baudrate < 19200) {
 			/* 10 Hz */
 			hil_rate_interval = 100;
+
 		} else if (baudrate < 38400) {
 			/* 10 Hz */
 			hil_rate_interval = 100;
+
 		} else if (baudrate < 115200) {
 			/* 20 Hz */
 			hil_rate_interval = 50;
+
 		} else {
 			/* 200 Hz */
 			hil_rate_interval = 5;
@@ -202,13 +205,13 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
 
 	/* attitude or rate control */
 	if (v_status.flag_control_attitude_enabled ||
-		v_status.flag_control_rates_enabled) {
+	    v_status.flag_control_rates_enabled) {
 		*mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
 	}
 
 	/* vector control */
 	if (v_status.flag_control_velocity_enabled ||
-		v_status.flag_control_position_enabled) {
+	    v_status.flag_control_position_enabled) {
 		*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
 	}
 
@@ -220,6 +223,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
 	/* set arming state */
 	if (armed.armed) {
 		*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
+
 	} else {
 		*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
 	}
@@ -230,9 +234,11 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
 		    v_status.flag_preflight_mag_calibration ||
 		    v_status.flag_preflight_accel_calibration) {
 			*mavlink_state = MAV_STATE_CALIBRATING;
+
 		} else {
 			*mavlink_state = MAV_STATE_UNINIT;
 		}
+
 		break;
 
 	case SYSTEM_STATE_STANDBY:
@@ -284,41 +290,48 @@ int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_m
 	int ret = OK;
 
 	switch (mavlink_msg_id) {
-		case MAVLINK_MSG_ID_SCALED_IMU:
-			/* sensor sub triggers scaled IMU */
-			orb_set_interval(subs->sensor_sub, min_interval);
-			break;
-		case MAVLINK_MSG_ID_HIGHRES_IMU:
-			/* sensor sub triggers highres IMU */
-			orb_set_interval(subs->sensor_sub, min_interval);
-			break;
-		case MAVLINK_MSG_ID_RAW_IMU:
-			/* sensor sub triggers RAW IMU */
-			orb_set_interval(subs->sensor_sub, min_interval);
-			break;
-		case MAVLINK_MSG_ID_ATTITUDE:
-			/* attitude sub triggers attitude */
-			orb_set_interval(subs->att_sub, min_interval);
-			break;
-		case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
-			/* actuator_outputs triggers this message */
-			orb_set_interval(subs->act_0_sub, min_interval);
-			orb_set_interval(subs->act_1_sub, min_interval);
-			orb_set_interval(subs->act_2_sub, min_interval);
-			orb_set_interval(subs->act_3_sub, min_interval);
-			orb_set_interval(subs->actuators_sub, min_interval);
-			break;
-		case MAVLINK_MSG_ID_MANUAL_CONTROL:
-			/* manual_control_setpoint triggers this message */
-			orb_set_interval(subs->man_control_sp_sub, min_interval);
-			break;
-		case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
-			orb_set_interval(subs->debug_key_value, min_interval);
-			break;
-		default:
-			/* not found */
-			ret = ERROR;
-			break;
+	case MAVLINK_MSG_ID_SCALED_IMU:
+		/* sensor sub triggers scaled IMU */
+		orb_set_interval(subs->sensor_sub, min_interval);
+		break;
+
+	case MAVLINK_MSG_ID_HIGHRES_IMU:
+		/* sensor sub triggers highres IMU */
+		orb_set_interval(subs->sensor_sub, min_interval);
+		break;
+
+	case MAVLINK_MSG_ID_RAW_IMU:
+		/* sensor sub triggers RAW IMU */
+		orb_set_interval(subs->sensor_sub, min_interval);
+		break;
+
+	case MAVLINK_MSG_ID_ATTITUDE:
+		/* attitude sub triggers attitude */
+		orb_set_interval(subs->att_sub, min_interval);
+		break;
+
+	case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
+		/* actuator_outputs triggers this message */
+		orb_set_interval(subs->act_0_sub, min_interval);
+		orb_set_interval(subs->act_1_sub, min_interval);
+		orb_set_interval(subs->act_2_sub, min_interval);
+		orb_set_interval(subs->act_3_sub, min_interval);
+		orb_set_interval(subs->actuators_sub, min_interval);
+		break;
+
+	case MAVLINK_MSG_ID_MANUAL_CONTROL:
+		/* manual_control_setpoint triggers this message */
+		orb_set_interval(subs->man_control_sp_sub, min_interval);
+		break;
+
+	case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
+		orb_set_interval(subs->debug_key_value, min_interval);
+		break;
+
+	default:
+		/* not found */
+		ret = ERROR;
+		break;
 	}
 
 	return ret;
@@ -460,7 +473,7 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
 	return uart;
 }
 
-void 
+void
 mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length)
 {
 	write(uart, ch, (size_t)(sizeof(uint8_t) * length));
@@ -469,7 +482,7 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length)
 /*
  * Internal function to give access to the channel status for each channel
  */
-mavlink_status_t* mavlink_get_channel_status(uint8_t channel)
+mavlink_status_t *mavlink_get_channel_status(uint8_t channel)
 {
 	static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
 	return &m_mavlink_status[channel];
@@ -478,7 +491,7 @@ mavlink_status_t* mavlink_get_channel_status(uint8_t channel)
 /*
  * Internal function to give access to the channel buffer for each channel
  */
-mavlink_message_t* mavlink_get_channel_buffer(uint8_t channel)
+mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel)
 {
 	static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
 	return &m_mavlink_buffer[channel];
@@ -501,18 +514,21 @@ void mavlink_update_system(void)
 	/* update system and component id */
 	int32_t system_id;
 	param_get(param_system_id, &system_id);
+
 	if (system_id > 0 && system_id < 255) {
 		mavlink_system.sysid = system_id;
 	}
 
 	int32_t component_id;
 	param_get(param_component_id, &component_id);
+
 	if (component_id > 0 && component_id < 255) {
 		mavlink_system.compid = component_id;
 	}
-	
+
 	int32_t system_type;
 	param_get(param_system_type, &system_type);
+
 	if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
 		mavlink_system.type = system_type;
 	}
@@ -538,8 +554,10 @@ int mavlink_thread_main(int argc, char *argv[])
 		switch (ch) {
 		case 'b':
 			baudrate = strtoul(optarg, NULL, 10);
+
 			if (baudrate == 0)
 				errx(1, "invalid baud rate '%s'", optarg);
+
 			break;
 
 		case 'd':
@@ -560,6 +578,7 @@ int mavlink_thread_main(int argc, char *argv[])
 	}
 
 	struct termios uart_config_original;
+
 	bool usb_uart;
 
 	/* print welcome text */
@@ -573,6 +592,7 @@ int mavlink_thread_main(int argc, char *argv[])
 
 	/* default values for arguments */
 	uart = mavlink_open_uart(baudrate, device_name, &uart_config_original, &usb_uart);
+
 	if (uart < 0)
 		err(1, "could not open %s", device_name);
 
@@ -603,6 +623,7 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
 		/* 2 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);
+
 	} else if (baudrate >= 115200) {
 		/* 20 Hz / 50 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 50);
@@ -613,6 +634,7 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
 		/* 2 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
+
 	} else if (baudrate >= 57600) {
 		/* 10 Hz / 100 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 300);
@@ -625,6 +647,7 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 500);
 		/* 2 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
+
 	} else {
 		/* very low baud rate, limit to 1 Hz / 1000 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 1000);
@@ -677,6 +700,7 @@ int mavlink_thread_main(int argc, char *argv[])
 						    v_status.errors_count4);
 			lowspeed_counter = 0;
 		}
+
 		lowspeed_counter++;
 
 		/* sleep quarter the time */
@@ -693,6 +717,7 @@ int mavlink_thread_main(int argc, char *argv[])
 
 		/* sleep quarter the time */
 		usleep(25000);
+
 		if (baudrate > 57600) {
 			mavlink_pm_queued_send();
 		}
@@ -704,6 +729,7 @@ int mavlink_thread_main(int argc, char *argv[])
 		if (!mavlink_logbuffer_is_empty(&lb)) {
 			struct mavlink_logmessage msg;
 			int lb_ret = mavlink_logbuffer_read(&lb, &msg);
+
 			if (lb_ret == OK) {
 				mavlink_missionlib_send_gcs_string(msg.text);
 			}
@@ -730,8 +756,8 @@ static void
 usage()
 {
 	fprintf(stderr, "usage: mavlink start [-d <devicename>] [-b <baud rate>]\n"
-			"       mavlink stop\n"
-			"       mavlink status\n");
+		"       mavlink stop\n"
+		"       mavlink status\n");
 	exit(1);
 }
 
@@ -755,16 +781,18 @@ int mavlink_main(int argc, char *argv[])
 					  SCHED_PRIORITY_DEFAULT,
 					  2048,
 					  mavlink_thread_main,
-					  (const char**)argv);
+					  (const char **)argv);
 		exit(0);
 	}
 
 	if (!strcmp(argv[1], "stop")) {
 		thread_should_exit = true;
+
 		while (thread_running) {
 			usleep(200000);
 			printf(".");
 		}
+
 		warnx("terminated.");
 		exit(0);
 	}
@@ -772,6 +800,7 @@ int mavlink_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
 			errx(0, "running");
+
 		} else {
 			errx(1, "not running");
 		}
diff --git a/apps/mavlink/mavlink_bridge_header.h b/apps/mavlink/mavlink_bridge_header.h
index bf7c5354c..270ec1727 100644
--- a/apps/mavlink/mavlink_bridge_header.h
+++ b/apps/mavlink/mavlink_bridge_header.h
@@ -75,7 +75,7 @@ extern mavlink_system_t mavlink_system;
  */
 extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length);
 
-mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
-mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan);
+mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
+mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan);
 
 #endif /* MAVLINK_BRIDGE_HEADER_H */
diff --git a/apps/mavlink/mavlink_hil.h b/apps/mavlink/mavlink_hil.h
index 95790db93..1eb8c32e9 100644
--- a/apps/mavlink/mavlink_hil.h
+++ b/apps/mavlink/mavlink_hil.h
@@ -50,7 +50,7 @@ extern orb_advert_t pub_hil_attitude;
  * Enable / disable Hardware in the Loop simulation mode.
  *
  * @param hil_enabled	The new HIL enable/disable state.
- * @return		OK if the HIL state changed, ERROR if the 
+ * @return		OK if the HIL state changed, ERROR if the
  *			requested change could not be made or was
  *			redundant.
  */
diff --git a/apps/mavlink/mavlink_log.c b/apps/mavlink/mavlink_log.c
index 73d59e76f..ed65fb883 100644
--- a/apps/mavlink/mavlink_log.c
+++ b/apps/mavlink/mavlink_log.c
@@ -43,39 +43,47 @@
 #include <stdlib.h>
 
 #include "mavlink_log.h"
- 
-void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size) {
-    lb->size  = size;
-    lb->start = 0;
-    lb->count = 0;
-    lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
+
+void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
+{
+	lb->size  = size;
+	lb->start = 0;
+	lb->count = 0;
+	lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
 }
- 
-int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb) {
+
+int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb)
+{
 	return lb->count == (int)lb->size;
 }
- 
-int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb) {
-    return lb->count == 0;
+
+int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb)
+{
+	return lb->count == 0;
 }
- 
-void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem) {
-    int end = (lb->start + lb->count) % lb->size;
-    memcpy(&(lb->elems[end]), elem, sizeof(struct mavlink_logmessage));
-    if (mavlink_logbuffer_is_full(lb)) {
-        lb->start = (lb->start + 1) % lb->size; /* full, overwrite */
-    } else {
-        ++lb->count;
-    }
+
+void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem)
+{
+	int end = (lb->start + lb->count) % lb->size;
+	memcpy(&(lb->elems[end]), elem, sizeof(struct mavlink_logmessage));
+
+	if (mavlink_logbuffer_is_full(lb)) {
+		lb->start = (lb->start + 1) % lb->size; /* full, overwrite */
+
+	} else {
+		++lb->count;
+	}
 }
- 
-int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem) {
-    if (!mavlink_logbuffer_is_empty(lb)) {
-        memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
-        lb->start = (lb->start + 1) % lb->size;
-        --lb->count;
-        return 0;
-    } else {
-        return 1;
-    }
+
+int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem)
+{
+	if (!mavlink_logbuffer_is_empty(lb)) {
+		memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
+		lb->start = (lb->start + 1) % lb->size;
+		--lb->count;
+		return 0;
+
+	} else {
+		return 1;
+	}
 }
diff --git a/apps/mavlink/mavlink_log.h b/apps/mavlink/mavlink_log.h
index cb6fd9d98..62e6f7ca0 100644
--- a/apps/mavlink/mavlink_log.h
+++ b/apps/mavlink/mavlink_log.h
@@ -82,26 +82,26 @@
 #define mavlink_log_info(_fd, _text)		ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text);
 
 struct mavlink_logmessage {
-    char text[51];
-    unsigned char severity;
+	char text[51];
+	unsigned char severity;
 };
 
 struct mavlink_logbuffer {
-    unsigned int start;
-    // unsigned int end;
-    unsigned int size;
-    int count;
-    struct mavlink_logmessage *elems;
+	unsigned int start;
+	// unsigned int end;
+	unsigned int size;
+	int count;
+	struct mavlink_logmessage *elems;
 };
- 
+
 void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size);
- 
+
 int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb);
 
 int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb);
- 
+
 void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem);
- 
+
 int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem);
 
 #endif
diff --git a/apps/mavlink/mavlink_parameters.c b/apps/mavlink/mavlink_parameters.c
index f7638550d..819f3441b 100644
--- a/apps/mavlink/mavlink_parameters.c
+++ b/apps/mavlink/mavlink_parameters.c
@@ -75,7 +75,7 @@ void mavlink_pm_callback(void *arg, param_t param);
 void mavlink_pm_callback(void *arg, param_t param)
 {
 	mavlink_pm_send_param(param);
-	usleep(*(unsigned int*)arg);
+	usleep(*(unsigned int *)arg);
 }
 
 void mavlink_pm_send_all_params(unsigned int delay)
@@ -90,6 +90,7 @@ int mavlink_pm_queued_send()
 		mavlink_pm_send_param(param_for_index(mavlink_param_queue_index));
 		mavlink_param_queue_index++;
 		return 0;
+
 	} else {
 		return 1;
 	}
@@ -105,7 +106,7 @@ int mavlink_pm_send_param_for_index(uint16_t index)
 	return mavlink_pm_send_param(param_for_index(index));
 }
 
-int mavlink_pm_send_param_for_name(const char* name)
+int mavlink_pm_send_param_for_name(const char *name)
 {
 	return mavlink_pm_send_param(param_find(name));
 }
@@ -123,16 +124,19 @@ int mavlink_pm_send_param(param_t param)
 	param_type_t type = param_type(param);
 	/* copy parameter name */
 	strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
-	
+
 	/*
 	 * Map onboard parameter type to MAVLink type,
 	 * endianess matches (both little endian)
 	 */
 	uint8_t mavlink_type;
+
 	if (type == PARAM_TYPE_INT32) {
 		mavlink_type = MAVLINK_TYPE_INT32_T;
+
 	} else if (type == PARAM_TYPE_FLOAT) {
 		mavlink_type = MAVLINK_TYPE_FLOAT;
+
 	} else {
 		mavlink_type = MAVLINK_TYPE_FLOAT;
 	}
@@ -143,6 +147,7 @@ int mavlink_pm_send_param(param_t param)
 	 */
 
 	int ret;
+
 	if ((ret = param_get(param, &val_buf)) != OK) {
 		return ret;
 	}
@@ -163,13 +168,13 @@ int mavlink_pm_send_param(param_t param)
 void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg)
 {
 	switch (msg->msgid) {
-		case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
+	case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
 			/* Start sending parameters */
 			mavlink_pm_start_queued_send();
 			mavlink_missionlib_send_gcs_string("[mavlink pm] sending list");
 		} break;
 
-		case MAVLINK_MSG_ID_PARAM_SET: {
+	case MAVLINK_MSG_ID_PARAM_SET: {
 
 			/* Handle parameter setting */
 
@@ -179,7 +184,7 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
 
 				if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) {
 					/* local name buffer to enforce null-terminated string */
-					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN+1];
+					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
 					strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
 					/* enforce null termination */
 					name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
@@ -190,6 +195,7 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
 						char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
 						sprintf(buf, "[mavlink pm] unknown: %s", name);
 						mavlink_missionlib_send_gcs_string(buf);
+
 					} else {
 						/* set and send parameter */
 						param_set(param, &(mavlink_param_set.param_value));
@@ -199,25 +205,26 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
 			}
 		} break;
 
-		case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
+	case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
 			mavlink_param_request_read_t mavlink_param_request_read;
 			mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read);
 
-				if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) {
-					/* when no index is given, loop through string ids and compare them */
-					if (mavlink_param_request_read.param_index == -1) {
-						/* local name buffer to enforce null-terminated string */
-						char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN+1];
-						strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
-						/* enforce null termination */
-						name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
-						/* attempt to find parameter and send it */
-						mavlink_pm_send_param_for_name(name);
-					} else {
-						/* when index is >= 0, send this parameter again */
-						mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index);
-					}
+			if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) {
+				/* when no index is given, loop through string ids and compare them */
+				if (mavlink_param_request_read.param_index == -1) {
+					/* local name buffer to enforce null-terminated string */
+					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
+					strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
+					/* enforce null termination */
+					name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
+					/* attempt to find parameter and send it */
+					mavlink_pm_send_param_for_name(name);
+
+				} else {
+					/* when index is >= 0, send this parameter again */
+					mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index);
 				}
+			}
 
 		} break;
 	}
diff --git a/apps/mavlink/mavlink_parameters.h b/apps/mavlink/mavlink_parameters.h
index 146e9e15c..b1e38bcc8 100644
--- a/apps/mavlink/mavlink_parameters.h
+++ b/apps/mavlink/mavlink_parameters.h
@@ -48,7 +48,7 @@
 #include <systemlib/param/param.h>
 
 /**
- * Handle parameter related messages. 
+ * Handle parameter related messages.
  */
 void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
 
@@ -84,14 +84,14 @@ int mavlink_pm_send_param_for_index(uint16_t index);
  * @param name		The index of the parameter to send.
  * @return		zero on success, nonzero else.
  */
-int mavlink_pm_send_param_for_name(const char* name);
+int mavlink_pm_send_param_for_name(const char *name);
 
 /**
  * Send a queue of parameters, one parameter per function call.
  *
  * @return		zero on success, nonzero on failure
  */
- int mavlink_pm_queued_send(void);
+int mavlink_pm_queued_send(void);
 
 /**
  * Start sending the parameter queue.
diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c
index 58761e89c..79452f515 100644
--- a/apps/mavlink/mavlink_receiver.c
+++ b/apps/mavlink/mavlink_receiver.c
@@ -106,7 +106,7 @@ handle_message(mavlink_message_t *msg)
 		mavlink_msg_command_long_decode(msg, &cmd_mavlink);
 
 		if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
-			|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
+				|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
 			//check for MAVLINK terminate command
 			if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
 				/* This is the link shutdown command, terminate mavlink */
@@ -138,6 +138,7 @@ handle_message(mavlink_message_t *msg)
 				if (cmd_pub <= 0) {
 					cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
 				}
+
 				/* publish */
 				orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
 			}
@@ -162,6 +163,7 @@ handle_message(mavlink_message_t *msg)
 		/* check if topic is advertised */
 		if (flow_pub <= 0) {
 			flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
+
 		} else {
 			/* publish */
 			orb_publish(ORB_ID(optical_flow), flow_pub, &f);
@@ -191,6 +193,7 @@ handle_message(mavlink_message_t *msg)
 		/* check if topic is advertised */
 		if (cmd_pub <= 0) {
 			cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
+
 		} else {
 			/* create command */
 			orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
@@ -214,6 +217,7 @@ handle_message(mavlink_message_t *msg)
 
 		if (vicon_position_pub <= 0) {
 			vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
+
 		} else {
 			orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position);
 		}
@@ -230,7 +234,7 @@ handle_message(mavlink_message_t *msg)
 			/* switch to a receiving link mode */
 			gcs_link = false;
 
-			/* 
+			/*
 			 * rate control mode - defined by MAVLink
 			 */
 
@@ -238,33 +242,37 @@ handle_message(mavlink_message_t *msg)
 			bool ml_armed = false;
 
 			switch (quad_motors_setpoint.mode) {
-				case 0:
-					ml_armed = false;
-					break;
-				case 1:
-					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
-					ml_armed = true;
-
-					break;
-				case 2:
-					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
-					ml_armed = true;
-
-					break;
-				case 3:
-					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
-					break;
-				case 4:
-					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
-					break;
+			case 0:
+				ml_armed = false;
+				break;
+
+			case 1:
+				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
+				ml_armed = true;
+
+				break;
+
+			case 2:
+				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
+				ml_armed = true;
+
+				break;
+
+			case 3:
+				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
+				break;
+
+			case 4:
+				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
+				break;
 			}
 
-			offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid-1]   / (float)INT16_MAX;
-			offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid-1]  / (float)INT16_MAX;
-			offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid-1]    / (float)INT16_MAX;
-			offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid-1] / (float)UINT16_MAX;
+			offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1]   / (float)INT16_MAX;
+			offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1]  / (float)INT16_MAX;
+			offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1]    / (float)INT16_MAX;
+			offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX;
 
-			if (quad_motors_setpoint.thrust[mavlink_system.sysid-1] == 0) {
+			if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) {
 				ml_armed = false;
 			}
 
@@ -276,6 +284,7 @@ handle_message(mavlink_message_t *msg)
 			/* check if topic has to be advertised */
 			if (offboard_control_sp_pub <= 0) {
 				offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
+
 			} else {
 				/* Publish */
 				orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp);
@@ -378,12 +387,14 @@ handle_message(mavlink_message_t *msg)
 
 			if (rc_pub == 0) {
 				rc_pub = orb_advertise(ORB_ID(rc_channels), &rc_hil);
+
 			} else {
 				orb_publish(ORB_ID(rc_channels), rc_pub, &rc_hil);
 			}
 
 			if (mc_pub == 0) {
 				mc_pub = orb_advertise(ORB_ID(manual_control_setpoint), &mc);
+
 			} else {
 				orb_publish(ORB_ID(manual_control_setpoint), mc_pub, &mc);
 			}
@@ -398,7 +409,7 @@ handle_message(mavlink_message_t *msg)
 static void *
 receive_thread(void *arg)
 {
-	int uart_fd = *((int*)arg);
+	int uart_fd = *((int *)arg);
 
 	const int timeout = 1000;
 	uint8_t ch;
@@ -442,8 +453,8 @@ receive_start(int uart)
 	pthread_attr_init(&receiveloop_attr);
 
 	struct sched_param param;
-  	param.sched_priority = SCHED_PRIORITY_MAX - 40;
-  	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
+	param.sched_priority = SCHED_PRIORITY_MAX - 40;
+	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
 
 	pthread_attr_setstacksize(&receiveloop_attr, 2048);
 
diff --git a/apps/mavlink/missionlib.c b/apps/mavlink/missionlib.c
index 50282a9e3..8064febc4 100644
--- a/apps/mavlink/missionlib.c
+++ b/apps/mavlink/missionlib.c
@@ -106,6 +106,7 @@ mavlink_missionlib_send_gcs_string(const char *string)
 
 		mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext);
 		return mavlink_missionlib_send_message(&msg);
+
 	} else {
 		return 1;
 	}
@@ -144,12 +145,15 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 		sp.altitude = param7_alt_z;
 		sp.altitude_is_relative = false;
 		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
+
 		/* Initialize publication if necessary */
 		if (global_position_setpoint_pub < 0) {
 			global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
+
 		} else {
 			orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
 		}
+
 		sprintf(buf, "[mp] WP#%i lat: % 3.6f/lon % 3.6f/alt % 4.6f/hdg %3.4f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
 
 	} else if (frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) {
@@ -160,12 +164,15 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 		sp.altitude = param7_alt_z;
 		sp.altitude_is_relative = true;
 		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
+
 		/* Initialize publication if necessary */
 		if (global_position_setpoint_pub < 0) {
 			global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
+
 		} else {
 			orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
 		}
+
 		sprintf(buf, "[mp] WP#%i (lat: %f/lon %f/rel alt %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
 
 	} else if (frame == (int)MAV_FRAME_LOCAL_ENU || frame == (int)MAV_FRAME_LOCAL_NED) {
@@ -175,15 +182,18 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 		sp.y = param6_lon_y;
 		sp.z = param7_alt_z;
 		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
+
 		/* Initialize publication if necessary */
 		if (local_position_setpoint_pub < 0) {
 			local_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &sp);
+
 		} else {
 			orb_publish(ORB_ID(vehicle_local_position_setpoint), local_position_setpoint_pub, &sp);
 		}
+
 		sprintf(buf, "[mp] WP#%i (x: %f/y %f/z %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
 	}
-	
+
 	mavlink_missionlib_send_gcs_string(buf);
 	printf("%s\n", buf);
 	//printf("[mavlink mp] new setpoint\n");//: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x*1000, param6_lon_y*1000, param7_alt_z*1000, param4*1000);
diff --git a/apps/mavlink/missionlib.h b/apps/mavlink/missionlib.h
index 3439c185d..c2ca735b3 100644
--- a/apps/mavlink/missionlib.h
+++ b/apps/mavlink/missionlib.h
@@ -48,5 +48,5 @@ extern int	mavlink_missionlib_send_message(mavlink_message_t *msg);
 extern int	mavlink_missionlib_send_gcs_string(const char *string);
 extern uint64_t	mavlink_missionlib_get_system_timestamp(void);
 extern void	mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
-			float param2, float param3, float param4, float param5_lat_x,
-			float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);
+		float param2, float param3, float param4, float param5_lat_x,
+		float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c
index 40e52a500..f5253ea35 100644
--- a/apps/mavlink/orb_listener.c
+++ b/apps/mavlink/orb_listener.c
@@ -90,9 +90,8 @@ static uint64_t last_sensor_timestamp;
 
 static void	*uorb_receive_thread(void *arg);
 
-struct listener
-{
-	void		(*callback)(struct listener *l);
+struct listener {
+	void	(*callback)(struct listener *l);
 	int		*subp;
 	uintptr_t	arg;
 };
@@ -185,14 +184,14 @@ l_sensor_combined(struct listener *l)
 
 	if (gcs_link)
 		mavlink_msg_highres_imu_send(MAVLINK_COMM_0, last_sensor_timestamp,
-			raw.accelerometer_m_s2[0], raw.accelerometer_m_s2[1],
-			raw.accelerometer_m_s2[2], raw.gyro_rad_s[0],
-			raw.gyro_rad_s[1], raw.gyro_rad_s[2],
-			raw.magnetometer_ga[0],
-			raw.magnetometer_ga[1],raw.magnetometer_ga[2],
-			raw.baro_pres_mbar, 0 /* no diff pressure yet */,
-			raw.baro_alt_meter, raw.baro_temp_celcius,
-			fields_updated);
+					     raw.accelerometer_m_s2[0], raw.accelerometer_m_s2[1],
+					     raw.accelerometer_m_s2[2], raw.gyro_rad_s[0],
+					     raw.gyro_rad_s[1], raw.gyro_rad_s[2],
+					     raw.magnetometer_ga[0],
+					     raw.magnetometer_ga[1], raw.magnetometer_ga[2],
+					     raw.baro_pres_mbar, 0 /* no diff pressure yet */,
+					     raw.baro_alt_meter, raw.baro_temp_celcius,
+					     fields_updated);
 
 	sensors_raw_counter++;
 }
@@ -209,13 +208,13 @@ l_vehicle_attitude(struct listener *l)
 	if (gcs_link)
 		/* send sensor values */
 		mavlink_msg_attitude_send(MAVLINK_COMM_0,
-				  last_sensor_timestamp / 1000,
-				  att.roll,
-				  att.pitch,
-				  att.yaw,
-				  att.rollspeed,
-				  att.pitchspeed,
-				  att.yawspeed);
+					  last_sensor_timestamp / 1000,
+					  att.roll,
+					  att.pitch,
+					  att.yaw,
+					  att.rollspeed,
+					  att.pitchspeed,
+					  att.yawspeed);
 
 	attitude_counter++;
 }
@@ -291,21 +290,21 @@ l_input_rc(struct listener *l)
 {
 	/* copy rc channels into local buffer */
 	orb_copy(ORB_ID(input_rc), mavlink_subs.input_rc_sub, &rc_raw);
-	
+
 	if (gcs_link)
 		/* Channels are sent in MAVLink main loop at a fixed interval */
 		mavlink_msg_rc_channels_raw_send(chan,
-					 rc_raw.timestamp / 1000,
-					 0,
-					 (rc_raw.channel_count > 0) ? rc_raw.values[0] : UINT16_MAX,
-					 (rc_raw.channel_count > 1) ? rc_raw.values[1] : UINT16_MAX,
-					 (rc_raw.channel_count > 2) ? rc_raw.values[2] : UINT16_MAX,
-					 (rc_raw.channel_count > 3) ? rc_raw.values[3] : UINT16_MAX,
-					 (rc_raw.channel_count > 4) ? rc_raw.values[4] : UINT16_MAX,
-					 (rc_raw.channel_count > 5) ? rc_raw.values[5] : UINT16_MAX,
-					 (rc_raw.channel_count > 6) ? rc_raw.values[6] : UINT16_MAX,
-					 (rc_raw.channel_count > 7) ? rc_raw.values[7] : UINT16_MAX,
-					 255);
+						 rc_raw.timestamp / 1000,
+						 0,
+						 (rc_raw.channel_count > 0) ? rc_raw.values[0] : UINT16_MAX,
+						 (rc_raw.channel_count > 1) ? rc_raw.values[1] : UINT16_MAX,
+						 (rc_raw.channel_count > 2) ? rc_raw.values[2] : UINT16_MAX,
+						 (rc_raw.channel_count > 3) ? rc_raw.values[3] : UINT16_MAX,
+						 (rc_raw.channel_count > 4) ? rc_raw.values[4] : UINT16_MAX,
+						 (rc_raw.channel_count > 5) ? rc_raw.values[5] : UINT16_MAX,
+						 (rc_raw.channel_count > 6) ? rc_raw.values[6] : UINT16_MAX,
+						 (rc_raw.channel_count > 7) ? rc_raw.values[7] : UINT16_MAX,
+						 255);
 }
 
 void
@@ -317,7 +316,7 @@ l_global_position(struct listener *l)
 	uint64_t timestamp = global_pos.timestamp;
 	int32_t lat = global_pos.lat;
 	int32_t lon = global_pos.lon;
-	int32_t alt = (int32_t)(global_pos.alt*1000);
+	int32_t alt = (int32_t)(global_pos.alt * 1000);
 	int32_t relative_alt = (int32_t)(global_pos.relative_alt * 1000.0f);
 	int16_t vx = (int16_t)(global_pos.vx * 100.0f);
 	int16_t vy = (int16_t)(global_pos.vy * 100.0f);
@@ -343,16 +342,16 @@ l_local_position(struct listener *l)
 {
 	/* copy local position data into local buffer */
 	orb_copy(ORB_ID(vehicle_local_position), mavlink_subs.local_pos_sub, &local_pos);
-	
+
 	if (gcs_link)
 		mavlink_msg_local_position_ned_send(MAVLINK_COMM_0,
-					    local_pos.timestamp / 1000,
-					    local_pos.x,
-					    local_pos.y,
-					    local_pos.z,
-					    local_pos.vx,
-					    local_pos.vy,
-					    local_pos.vz);
+						    local_pos.timestamp / 1000,
+						    local_pos.x,
+						    local_pos.y,
+						    local_pos.z,
+						    local_pos.vx,
+						    local_pos.vy,
+						    local_pos.vz);
 }
 
 void
@@ -364,16 +363,17 @@ l_global_position_setpoint(struct listener *l)
 	orb_copy(ORB_ID(vehicle_global_position_setpoint), mavlink_subs.spg_sub, &global_sp);
 
 	uint8_t coordinate_frame = MAV_FRAME_GLOBAL;
+
 	if (global_sp.altitude_is_relative)
 		coordinate_frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
 
 	if (gcs_link)
 		mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0,
-						      coordinate_frame,
-						      global_sp.lat,
-						      global_sp.lon,
-						      global_sp.altitude,
-						      global_sp.yaw);
+				coordinate_frame,
+				global_sp.lat,
+				global_sp.lon,
+				global_sp.altitude,
+				global_sp.yaw);
 }
 
 void
@@ -386,11 +386,11 @@ l_local_position_setpoint(struct listener *l)
 
 	if (gcs_link)
 		mavlink_msg_local_position_setpoint_send(MAVLINK_COMM_0,
-						 MAV_FRAME_LOCAL_NED,
-						 local_sp.x,
-						 local_sp.y,
-						 local_sp.z,
-						 local_sp.yaw);
+				MAV_FRAME_LOCAL_NED,
+				local_sp.x,
+				local_sp.y,
+				local_sp.z,
+				local_sp.yaw);
 }
 
 void
@@ -403,11 +403,11 @@ l_attitude_setpoint(struct listener *l)
 
 	if (gcs_link)
 		mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_0,
-							att_sp.timestamp/1000,
-							att_sp.roll_body,
-							att_sp.pitch_body,
-							att_sp.yaw_body,
-							att_sp.thrust);
+				att_sp.timestamp / 1000,
+				att_sp.roll_body,
+				att_sp.pitch_body,
+				att_sp.yaw_body,
+				att_sp.thrust);
 }
 
 void
@@ -420,11 +420,11 @@ l_vehicle_rates_setpoint(struct listener *l)
 
 	if (gcs_link)
 		mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(MAVLINK_COMM_0,
-							rates_sp.timestamp/1000,
-							rates_sp.roll,
-							rates_sp.pitch,
-							rates_sp.yaw,
-							rates_sp.thrust);
+				rates_sp.timestamp / 1000,
+				rates_sp.roll,
+				rates_sp.pitch,
+				rates_sp.yaw,
+				rates_sp.thrust);
 }
 
 void
@@ -444,15 +444,15 @@ l_actuator_outputs(struct listener *l)
 
 	if (gcs_link) {
 		mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000,
-					  l->arg /* port number */,
-					  act_outputs.output[0],
-					  act_outputs.output[1],
-					  act_outputs.output[2],
-					  act_outputs.output[3],
-					  act_outputs.output[4],
-					  act_outputs.output[5],
-					  act_outputs.output[6],
-					  act_outputs.output[7]);
+						  l->arg /* port number */,
+						  act_outputs.output[0],
+						  act_outputs.output[1],
+						  act_outputs.output[2],
+						  act_outputs.output[3],
+						  act_outputs.output[4],
+						  act_outputs.output[5],
+						  act_outputs.output[6],
+						  act_outputs.output[7]);
 
 		/* only send in HIL mode */
 		if (mavlink_hil_enabled && armed.armed) {
@@ -468,43 +468,46 @@ l_actuator_outputs(struct listener *l)
 
 			if (mavlink_system.type == MAV_TYPE_QUADROTOR) {
 				mavlink_msg_hil_controls_send(chan,
-					hrt_absolute_time(),
-					((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
-					-1,
-					-1,
-					-1,
-					-1,
-					mavlink_mode,
-					0);
+							      hrt_absolute_time(),
+							      ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
+							      -1,
+							      -1,
+							      -1,
+							      -1,
+							      mavlink_mode,
+							      0);
+
 			} else if (mavlink_system.type == MAV_TYPE_HEXAROTOR) {
 				mavlink_msg_hil_controls_send(chan,
-					hrt_absolute_time(),
-					((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f,
-					-1,
-					-1,
-					mavlink_mode,
-					0);
+							      hrt_absolute_time(),
+							      ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f,
+							      -1,
+							      -1,
+							      mavlink_mode,
+							      0);
+
 			} else if (mavlink_system.type == MAV_TYPE_OCTOROTOR) {
 				mavlink_msg_hil_controls_send(chan,
-					hrt_absolute_time(),
-					((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[6] - 900.0f) / 600.0f) / 2.0f,
-					((act_outputs.output[7] - 900.0f) / 600.0f) / 2.0f,
-					mavlink_mode,
-					0);
+							      hrt_absolute_time(),
+							      ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[6] - 900.0f) / 600.0f) / 2.0f,
+							      ((act_outputs.output[7] - 900.0f) / 600.0f) / 2.0f,
+							      mavlink_mode,
+							      0);
+
 			} else {
 
 				/*
@@ -516,23 +519,24 @@ l_actuator_outputs(struct listener *l)
 				if (act_outputs.noutputs < 4) {
 					rudder = 0.0f;
 					throttle = (act_outputs.output[2] - 900.0f) / 1200.0f;
+
 				} else {
 					rudder = (act_outputs.output[2] - 1500.0f) / 600.0f;
 					throttle = (act_outputs.output[3] - 900.0f) / 1200.0f;
 				}
 
 				mavlink_msg_hil_controls_send(chan,
-					hrt_absolute_time(),
-					(act_outputs.output[0] - 1500.0f) / 600.0f,
-					(act_outputs.output[1] - 1500.0f) / 600.0f,
-					rudder,
-					throttle,
-					(act_outputs.output[4] - 1500.0f) / 600.0f,
-					(act_outputs.output[5] - 1500.0f) / 600.0f,
-					(act_outputs.output[6] - 1500.0f) / 600.0f,
-					(act_outputs.output[7] - 1500.0f) / 600.0f,
-					mavlink_mode,
-					0);
+							      hrt_absolute_time(),
+							      (act_outputs.output[0] - 1500.0f) / 600.0f,
+							      (act_outputs.output[1] - 1500.0f) / 600.0f,
+							      rudder,
+							      throttle,
+							      (act_outputs.output[4] - 1500.0f) / 600.0f,
+							      (act_outputs.output[5] - 1500.0f) / 600.0f,
+							      (act_outputs.output[6] - 1500.0f) / 600.0f,
+							      (act_outputs.output[7] - 1500.0f) / 600.0f,
+							      mavlink_mode,
+							      0);
 			}
 		}
 	}
@@ -554,12 +558,12 @@ l_manual_control_setpoint(struct listener *l)
 
 	if (gcs_link)
 		mavlink_msg_manual_control_send(MAVLINK_COMM_0,
-					mavlink_system.sysid,
-					man_control.roll * 1000,
-					man_control.pitch * 1000,
-					man_control.yaw * 1000,
-					man_control.throttle * 1000,
-					0);
+						mavlink_system.sysid,
+						man_control.roll * 1000,
+						man_control.pitch * 1000,
+						man_control.yaw * 1000,
+						man_control.throttle * 1000,
+						0);
 }
 
 void
@@ -614,7 +618,7 @@ l_optical_flow(struct listener *l)
 	orb_copy(ORB_ID(optical_flow), mavlink_subs.optical_flow, &flow);
 
 	mavlink_msg_optical_flow_send(MAVLINK_COMM_0, flow.timestamp, flow.sensor_id, flow.flow_raw_x, flow.flow_raw_y,
-		flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m);
+				      flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m);
 }
 
 static void *
@@ -635,6 +639,7 @@ uorb_receive_thread(void *arg)
 	 * Might want to invoke each listener once to set initial state.
 	 */
 	struct pollfd fds[n_listeners];
+
 	for (unsigned i = 0; i < n_listeners; i++) {
 		fds[i].fd = *listeners[i].subp;
 		fds[i].events = POLLIN;
@@ -650,8 +655,10 @@ uorb_receive_thread(void *arg)
 		/* handle the poll result */
 		if (poll_ret == 0) {
 			mavlink_missionlib_send_gcs_string("[mavlink] No telemetry data for 1 s");
+
 		} else if (poll_ret < 0) {
 			mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data");
+
 		} else {
 
 			for (unsigned i = 0; i < n_listeners; i++) {
diff --git a/apps/mavlink/waypoints.c b/apps/mavlink/waypoints.c
index 16759237e..3832ebe70 100644
--- a/apps/mavlink/waypoints.c
+++ b/apps/mavlink/waypoints.c
@@ -379,6 +379,7 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
 			if (counter % 100 == 0)
 				printf("Setpoint reached: %0.4f, orbit: %.4f\n", dist, orbit);
 		}
+
 //		else
 //		{
 //			if(counter % 100 == 0)