mavlink, mavlink_onboard: bugfixes, code style fixed

2 files changed, 99 insertions, 40 deletions

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index b315f3efe..8243748dc 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -167,6 +167,7 @@ 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 {
 					/* publish */
 					orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
@@ -437,9 +438,11 @@ handle_message(mavlink_message_t *msg)
 
 			if (pub_hil_airspeed < 0) {
 				pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed);
+
 			} else {
 				orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
 			}
+
 			//warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s);
 
 			/* individual sensor publications */
@@ -455,49 +458,72 @@ handle_message(mavlink_message_t *msg)
 
 			if (pub_hil_gyro < 0) {
 				pub_hil_gyro = orb_advertise(ORB_ID(sensor_gyro), &gyro);
+
 			} else {
 				orb_publish(ORB_ID(sensor_gyro), pub_hil_gyro, &gyro);
 			}
 
 			struct accel_report accel;
+
 			accel.x_raw = imu.xacc / mg2ms2;
+
 			accel.y_raw = imu.yacc / mg2ms2;
+
 			accel.z_raw = imu.zacc / mg2ms2;
+
 			accel.x = imu.xacc;
+
 			accel.y = imu.yacc;
+
 			accel.z = imu.zacc;
+
 			accel.temperature = imu.temperature;
+
 			accel.timestamp = hrt_absolute_time();
 
 			if (pub_hil_accel < 0) {
 				pub_hil_accel = orb_advertise(ORB_ID(sensor_accel), &accel);
+
 			} else {
 				orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel);
 			}
 
 			struct mag_report mag;
+
 			mag.x_raw = imu.xmag / mga2ga;
+
 			mag.y_raw = imu.ymag / mga2ga;
+
 			mag.z_raw = imu.zmag / mga2ga;
+
 			mag.x = imu.xmag;
+
 			mag.y = imu.ymag;
+
 			mag.z = imu.zmag;
+
 			mag.timestamp = hrt_absolute_time();
 
 			if (pub_hil_mag < 0) {
 				pub_hil_mag = orb_advertise(ORB_ID(sensor_mag), &mag);
+
 			} else {
 				orb_publish(ORB_ID(sensor_mag), pub_hil_mag, &mag);
 			}
 
 			struct baro_report baro;
+
 			baro.pressure = imu.abs_pressure;
+
 			baro.altitude = imu.pressure_alt;
+
 			baro.temperature = imu.temperature;
+
 			baro.timestamp = hrt_absolute_time();
 
 			if (pub_hil_baro < 0) {
 				pub_hil_baro = orb_advertise(ORB_ID(sensor_baro), &baro);
+
 			} else {
 				orb_publish(ORB_ID(sensor_baro), pub_hil_baro, &baro);
 			}
@@ -505,6 +531,7 @@ handle_message(mavlink_message_t *msg)
 			/* publish combined sensor topic */
 			if (pub_hil_sensors > 0) {
 				orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
+
 			} else {
 				pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
 			}
@@ -517,6 +544,7 @@ handle_message(mavlink_message_t *msg)
 			/* lazily publish the battery voltage */
 			if (pub_hil_battery > 0) {
 				orb_publish(ORB_ID(battery_status), pub_hil_battery, &hil_battery_status);
+
 			} else {
 				pub_hil_battery = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
 			}
@@ -527,7 +555,7 @@ handle_message(mavlink_message_t *msg)
 
 			// output
 			if ((timestamp - old_timestamp) > 10000000) {
-				printf("receiving hil sensor at %d hz\n", hil_frames/10);
+				printf("receiving hil sensor at %d hz\n", hil_frames / 10);
 				old_timestamp = timestamp;
 				hil_frames = 0;
 			}
@@ -552,9 +580,11 @@ handle_message(mavlink_message_t *msg)
 
 			/* gps.cog is in degrees 0..360 * 100, heading is -PI..+PI */
 			float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f;
+
 			/* go back to -PI..PI */
 			if (heading_rad > M_PI_F)
 				heading_rad -= 2.0f * M_PI_F;
+
 			hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m
 			hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m
 			hil_gps.vel_d_m_s = gps.vd * 1e-2f; // from cm to m
@@ -567,6 +597,7 @@ handle_message(mavlink_message_t *msg)
 			/* publish GPS measurement data */
 			if (pub_hil_gps > 0) {
 				orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps);
+
 			} else {
 				pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
 			}
@@ -585,6 +616,7 @@ handle_message(mavlink_message_t *msg)
 
 			if (pub_hil_airspeed < 0) {
 				pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed);
+
 			} else {
 				orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
 			}
@@ -602,6 +634,7 @@ handle_message(mavlink_message_t *msg)
 
 			if (pub_hil_global_pos > 0) {
 				orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
+
 			} else {
 				pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
 			}
@@ -613,8 +646,8 @@ handle_message(mavlink_message_t *msg)
 
 			/* set rotation matrix */
 			for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
-				hil_attitude.R[i][j] = C_nb(i, j);
-			
+					hil_attitude.R[i][j] = C_nb(i, j);
+
 			hil_attitude.R_valid = true;
 
 			/* set quaternion */
@@ -636,22 +669,32 @@ handle_message(mavlink_message_t *msg)
 
 			if (pub_hil_attitude > 0) {
 				orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude);
+
 			} else {
 				pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
 			}
 
 			struct accel_report accel;
+
 			accel.x_raw = hil_state.xacc / 9.81f * 1e3f;
+
 			accel.y_raw = hil_state.yacc / 9.81f * 1e3f;
+
 			accel.z_raw = hil_state.zacc / 9.81f * 1e3f;
+
 			accel.x = hil_state.xacc;
+
 			accel.y = hil_state.yacc;
+
 			accel.z = hil_state.zacc;
+
 			accel.temperature = 25.0f;
+
 			accel.timestamp = hrt_absolute_time();
 
 			if (pub_hil_accel < 0) {
 				pub_hil_accel = orb_advertise(ORB_ID(sensor_accel), &accel);
+
 			} else {
 				orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel);
 			}
@@ -664,6 +707,7 @@ handle_message(mavlink_message_t *msg)
 			/* lazily publish the battery voltage */
 			if (pub_hil_battery > 0) {
 				orb_publish(ORB_ID(battery_status), pub_hil_battery, &hil_battery_status);
+
 			} else {
 				pub_hil_battery = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
 			}
@@ -735,15 +779,21 @@ receive_thread(void *arg)
 
 	prctl(PR_SET_NAME, "mavlink_uart_rcv", getpid());
 
-	while (!thread_should_exit) {
+	struct pollfd fds[1];
+	fds[0].fd = uart_fd;
+	fds[0].events = POLLIN;
 
-		struct pollfd fds[1];
-		fds[0].fd = uart_fd;
-		fds[0].events = POLLIN;
+	ssize_t nread = 0;
 
+	while (!thread_should_exit) {
 		if (poll(fds, 1, timeout) > 0) {
+			if (nread < sizeof(buf)) {
+				/* to avoid reading very small chunks wait for data before reading */
+				usleep(1000);
+			}
+
 			/* non-blocking read. read may return negative values */
-			ssize_t nread = read(uart_fd, buf, sizeof(buf));
+			nread = read(uart_fd, buf, sizeof(buf));
 
 			/* if read failed, this loop won't execute */
 			for (ssize_t i = 0; i < nread; i++) {
@@ -751,10 +801,10 @@ receive_thread(void *arg)
 					/* handle generic messages and commands */
 					handle_message(&msg);
 
-					/* Handle packet with waypoint component */
+					/* handle packet with waypoint component */
 					mavlink_wpm_message_handler(&msg, &global_pos, &local_pos);
 
-					/* Handle packet with parameter component */
+					/* handle packet with parameter component */
 					mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
 				}
 			}
diff --git a/src/modules/mavlink_onboard/mavlink_receiver.c b/src/modules/mavlink_onboard/mavlink_receiver.c
index 4f62b5fcc..4658bcc1d 100644
--- a/src/modules/mavlink_onboard/mavlink_receiver.c
+++ b/src/modules/mavlink_onboard/mavlink_receiver.c
@@ -100,7 +100,7 @@ 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 */
@@ -132,6 +132,7 @@ 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);
 			}
@@ -156,6 +157,7 @@ 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);
@@ -186,6 +188,7 @@ 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);
@@ -203,6 +206,7 @@ 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);
 		}
@@ -219,7 +223,7 @@ handle_message(mavlink_message_t *msg)
 			/* switch to a receiving link mode */
 			gcs_link = false;
 
-			/* 
+			/*
 			 * rate control mode - defined by MAVLink
 			 */
 
@@ -227,33 +231,37 @@ 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;
 			}
 
@@ -265,6 +273,7 @@ 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);
@@ -281,7 +290,7 @@ 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 buf[32];
@@ -302,7 +311,7 @@ receive_thread(void *arg)
 			}
 
 			/* non-blocking read. read may return negative values */
-			ssize_t nread = read(uart_fd, buf, sizeof(buf));
+			nread = read(uart_fd, buf, sizeof(buf));
 
 			/* if read failed, this loop won't execute */
 			for (ssize_t i = 0; i < nread; i++) {
@@ -324,8 +333,8 @@ 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);