Code style

1 files changed, 139 insertions, 56 deletions

diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index c39c3d6db..ea2876c7b 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -247,11 +247,12 @@ enum AUDIO_PATTERN {
 	AUDIO_PATTERN_TETRIS = 5
 };
 
-int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state) {
+int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state)
+{
 
 	/* Trigger alarm if going into any error state */
 	if (((new_state == SYSTEM_STATE_GROUND_ERROR) && (old_state != SYSTEM_STATE_GROUND_ERROR)) ||
-		((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) {
+	    ((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) {
 		ioctl(buzzer, TONE_SET_ALARM, 0);
 		ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_ERROR);
 	}
@@ -267,11 +268,13 @@ int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, u
 	return 0;
 }
 
-void tune_confirm(void) {
+void tune_confirm(void)
+{
 	ioctl(buzzer, TONE_SET_ALARM, 3);
 }
 
-void tune_error(void) {
+void tune_error(void)
+{
 	ioctl(buzzer, TONE_SET_ALARM, 4);
 }
 
@@ -298,9 +301,11 @@ void do_rc_calibration(int status_pub, struct vehicle_status_s *status)
 	/* store to permanent storage */
 	/* auto-save to EEPROM */
 	int save_ret = param_save_default();
-	if(save_ret != 0) {
+
+	if (save_ret != 0) {
 		mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed");
 	}
+
 	mavlink_log_info(mavlink_fd, "[cmd] trim calibration done");
 }
 
@@ -329,7 +334,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	//  * but the smallest number by magnitude float can
 	//  * represent. Use -FLT_MAX to initialize the most
 	//  * negative number
-	 
+
 	// float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
 	// float mag_min[3] = {FLT_MAX, FLT_MAX, FLT_MAX};
 
@@ -344,6 +349,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 		0.0f,
 		1.0f,
 	};
+
 	if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
 		warn("WARNING: failed to set scale / offsets for mag");
 		mavlink_log_info(mavlink_fd, "[cmd] failed to set scale / offsets for mag");
@@ -366,9 +372,9 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	const char axislabels[3] = { 'X', 'Y', 'Z'};
 	int axis_index = -1;
 
-	float *x = (float*)malloc(sizeof(float) * calibration_maxcount);
-	float *y = (float*)malloc(sizeof(float) * calibration_maxcount);
-	float *z = (float*)malloc(sizeof(float) * calibration_maxcount);
+	float *x = (float *)malloc(sizeof(float) * calibration_maxcount);
+	float *y = (float *)malloc(sizeof(float) * calibration_maxcount);
+	float *z = (float *)malloc(sizeof(float) * calibration_maxcount);
 
 	if (x == NULL || y == NULL || z == NULL) {
 		warnx("mag cal failed: out of memory");
@@ -382,14 +388,14 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	tune_confirm();
 
 	while (hrt_absolute_time() < calibration_deadline &&
-		calibration_counter < calibration_maxcount) {
+	       calibration_counter < calibration_maxcount) {
 
 		/* wait blocking for new data */
 		struct pollfd fds[1] = { { .fd = sub_mag, .events = POLLIN } };
 
 		/* user guidance */
 		if (hrt_absolute_time() >= axis_deadline &&
-			axis_index < 3) {
+		    axis_index < 3) {
 
 			axis_index++;
 
@@ -397,7 +403,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 			sprintf(buf, "[cmd] Please rotate around %c", axislabels[axis_index]);
 			mavlink_log_info(mavlink_fd, buf);
 			tune_confirm();
-		
+
 			axis_deadline += calibration_interval / 3;
 		}
 
@@ -444,6 +450,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 			// }
 
 			calibration_counter++;
+
 		} else {
 			/* any poll failure for 1s is a reason to abort */
 			mavlink_log_info(mavlink_fd, "[cmd] mag cal canceled");
@@ -477,6 +484,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 
 		if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
 			warn("WARNING: failed to set scale / offsets for mag");
+
 		close(fd);
 
 		/* announce and set new offset */
@@ -507,15 +515,16 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 
 		/* auto-save to EEPROM */
 		int save_ret = param_save_default();
-		if(save_ret != 0) {
+
+		if (save_ret != 0) {
 			warn("WARNING: auto-save of params to storage failed");
 			mavlink_log_info(mavlink_fd, "[cmd] FAILED storing calibration");
 		}
 
 		printf("[mag cal]\tscale: %.6f %.6f %.6f\n         \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n",
-			(double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale,
-			(double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius);
-		
+		       (double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale,
+		       (double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius);
+
 		char buf[52];
 		sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset,
 			(double)mscale.y_offset, (double)mscale.z_offset);
@@ -560,7 +569,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 
 	/* set offsets to zero */
 	int fd = open(GYRO_DEVICE_PATH, 0);
-	struct gyro_scale gscale_null = { 
+	struct gyro_scale gscale_null = {
 		0.0f,
 		1.0f,
 		0.0f,
@@ -568,8 +577,10 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 		0.0f,
 		1.0f,
 	};
+
 	if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale_null))
 		warn("WARNING: failed to set scale / offsets for gyro");
+
 	close(fd);
 
 	while (calibration_counter < calibration_count) {
@@ -583,6 +594,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 			gyro_offset[1] += raw.gyro_rad_s[1];
 			gyro_offset[2] += raw.gyro_rad_s[2];
 			calibration_counter++;
+
 		} else {
 			/* any poll failure for 1s is a reason to abort */
 			mavlink_log_info(mavlink_fd, "[cmd] gyro calibration aborted, retry");
@@ -603,7 +615,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 		if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0]))) {
 			mavlink_log_critical(mavlink_fd, "[cmd] Setting X gyro offset failed!");
 		}
-		
+
 		if (param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1]))) {
 			mavlink_log_critical(mavlink_fd, "[cmd] Setting Y gyro offset failed!");
 		}
@@ -614,7 +626,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 
 		/* set offsets to actual value */
 		fd = open(GYRO_DEVICE_PATH, 0);
-		struct gyro_scale gscale = { 
+		struct gyro_scale gscale = {
 			gyro_offset[0],
 			1.0f,
 			gyro_offset[1],
@@ -622,13 +634,16 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 			gyro_offset[2],
 			1.0f,
 		};
+
 		if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
 			warn("WARNING: failed to set scale / offsets for gyro");
+
 		close(fd);
 
 		/* auto-save to EEPROM */
 		int save_ret = param_save_default();
-		if(save_ret != 0) {
+
+		if (save_ret != 0) {
 			warn("WARNING: auto-save of params to storage failed");
 		}
 
@@ -642,6 +657,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 		tune_confirm();
 		sleep(2);
 		/* third beep by cal end routine */
+
 	} else {
 		mavlink_log_info(mavlink_fd, "[cmd] gyro calibration FAILED (NaN)");
 	}
@@ -675,9 +691,12 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 		0.0f,
 		1.0f,
 	};
+
 	if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null))
 		warn("WARNING: failed to set scale / offsets for accel");
+
 	close(fd);
+
 	while (calibration_counter < calibration_count) {
 
 		/* wait blocking for new data */
@@ -689,20 +708,22 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 			accel_offset[1] += raw.accelerometer_m_s2[1];
 			accel_offset[2] += raw.accelerometer_m_s2[2];
 			calibration_counter++;
+
 		} else {
 			/* any poll failure for 1s is a reason to abort */
 			mavlink_log_info(mavlink_fd, "[cmd] acceleration calibration aborted");
 			return;
 		}
 	}
+
 	accel_offset[0] = accel_offset[0] / calibration_count;
 	accel_offset[1] = accel_offset[1] / calibration_count;
 	accel_offset[2] = accel_offset[2] / calibration_count;
 
 	if (isfinite(accel_offset[0]) && isfinite(accel_offset[1]) && isfinite(accel_offset[2])) {
-		
+
 		/* add the removed length from x / y to z, since we induce a scaling issue else */
-		float total_len = sqrtf(accel_offset[0]*accel_offset[0] + accel_offset[1]*accel_offset[1] + accel_offset[2]*accel_offset[2]);
+		float total_len = sqrtf(accel_offset[0] * accel_offset[0] + accel_offset[1] * accel_offset[1] + accel_offset[2] * accel_offset[2]);
 
 		/* if length is correct, zero results here */
 		accel_offset[2] = accel_offset[2] + total_len;
@@ -712,7 +733,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 		if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0]))) {
 			mavlink_log_critical(mavlink_fd, "[cmd] Setting X accel offset failed!");
 		}
-		
+
 		if (param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1]))) {
 			mavlink_log_critical(mavlink_fd, "[cmd] Setting Y accel offset failed!");
 		}
@@ -724,7 +745,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 		if (param_set(param_find("SENS_ACC_XSCALE"), &(scale))) {
 			mavlink_log_critical(mavlink_fd, "[cmd] Setting X accel offset failed!");
 		}
-		
+
 		if (param_set(param_find("SENS_ACC_YSCALE"), &(scale))) {
 			mavlink_log_critical(mavlink_fd, "[cmd] Setting Y accel offset failed!");
 		}
@@ -742,13 +763,16 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 			accel_offset[2],
 			scale,
 		};
+
 		if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
 			warn("WARNING: failed to set scale / offsets for accel");
+
 		close(fd);
 
 		/* auto-save to EEPROM */
 		int save_ret = param_save_default();
-		if(save_ret != 0) {
+
+		if (save_ret != 0) {
 			warn("WARNING: auto-save of params to storage failed");
 		}
 
@@ -762,6 +786,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 		tune_confirm();
 		sleep(2);
 		/* third beep by cal end routine */
+
 	} else {
 		mavlink_log_info(mavlink_fd, "[cmd] accel calibration FAILED (NaN)");
 	}
@@ -788,28 +813,32 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 	/* request to set different system mode */
 	switch (cmd->command) {
-		case VEHICLE_CMD_DO_SET_MODE:
-		{
+	case VEHICLE_CMD_DO_SET_MODE: {
 			if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) {
 				result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 			} else {
 				result = VEHICLE_CMD_RESULT_DENIED;
 			}
 		}
 		break;
 
-		case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
+	case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
 			/* request to arm */
 			if ((int)cmd->param1 == 1) {
 				if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
 					result = VEHICLE_CMD_RESULT_DENIED;
 				}
-			/* request to disarm */
+
+				/* request to disarm */
+
 			} else if ((int)cmd->param1 == 0) {
 				if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
 					result = VEHICLE_CMD_RESULT_DENIED;
 				}
@@ -818,11 +847,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 		break;
 
 		/* request for an autopilot reboot */
-		case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
+	case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
 			if ((int)cmd->param1 == 1) {
 				if (OK == do_state_update(status_pub, current_vehicle_status, mavlink_fd, SYSTEM_STATE_REBOOT)) {
 					/* SPECIAL CASE: SYSTEM WILL NEVER RETURN HERE */
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
 					/* system may return here */
 					result = VEHICLE_CMD_RESULT_DENIED;
@@ -855,7 +885,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 //		break;
 //
 		/* preflight calibration */
-		case VEHICLE_CMD_PREFLIGHT_CALIBRATION: {
+	case VEHICLE_CMD_PREFLIGHT_CALIBRATION: {
 			bool handled = false;
 
 			/* gyro calibration */
@@ -871,10 +901,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 					tune_confirm();
 					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
 					mavlink_log_critical(mavlink_fd, "[cmd] REJECTING gyro calibration");
 					result = VEHICLE_CMD_RESULT_DENIED;
 				}
+
 				handled = true;
 			}
 
@@ -891,10 +923,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 					tune_confirm();
 					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
 					mavlink_log_critical(mavlink_fd, "[cmd] REJECTING mag calibration");
 					result = VEHICLE_CMD_RESULT_DENIED;
 				}
+
 				handled = true;
 			}
 
@@ -906,10 +940,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
 					mavlink_log_info(mavlink_fd, "[cmd] zero altitude cal. not implemented");
 					tune_confirm();
+
 				} else {
 					mavlink_log_critical(mavlink_fd, "[cmd] REJECTING altitude calibration");
 					result = VEHICLE_CMD_RESULT_DENIED;
 				}
+
 				handled = true;
 			}
 
@@ -926,10 +962,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 					tune_confirm();
 					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
 					mavlink_log_critical(mavlink_fd, "[cmd] REJECTING trim calibration");
 					result = VEHICLE_CMD_RESULT_DENIED;
 				}
+
 				handled = true;
 			}
 
@@ -946,10 +984,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 					mavlink_log_info(mavlink_fd, "[cmd] CMD finished accel calibration");
 					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
 					mavlink_log_critical(mavlink_fd, "[cmd] REJECTING accel calibration");
 					result = VEHICLE_CMD_RESULT_DENIED;
 				}
+
 				handled = true;
 			}
 
@@ -962,14 +1002,15 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 		}
 		break;
 
-		case VEHICLE_CMD_PREFLIGHT_STORAGE: {
+	case VEHICLE_CMD_PREFLIGHT_STORAGE: {
 			if (current_status.flag_system_armed &&
-				((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
-						(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
-						(current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) {
+			    ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
+			     (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
+			     (current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) {
 				/* do not perform expensive memory tasks on multirotors in flight */
 				// XXX this is over-safe, as soon as cmd is in low prio thread this can be allowed
 				mavlink_log_info(mavlink_fd, "[cmd] REJECTING save cmd while multicopter armed");
+
 			} else {
 
 				// XXX move this to LOW PRIO THREAD of commander app
@@ -979,23 +1020,28 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 					/* read all parameters from EEPROM to RAM */
 					int read_ret = param_load_default();
+
 					if (read_ret == OK) {
 						//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
 						mavlink_log_info(mavlink_fd, "[cmd] OK loading params from");
 						mavlink_log_info(mavlink_fd, param_get_default_file());
 						result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 					} else if (read_ret == 1) {
 						mavlink_log_info(mavlink_fd, "[cmd] OK no changes in");
 						mavlink_log_info(mavlink_fd, param_get_default_file());
 						result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 					} else {
 						if (read_ret < -1) {
 							mavlink_log_info(mavlink_fd, "[cmd] ERR loading params from");
 							mavlink_log_info(mavlink_fd, param_get_default_file());
+
 						} else {
 							mavlink_log_info(mavlink_fd, "[cmd] ERR no param file named");
 							mavlink_log_info(mavlink_fd, param_get_default_file());
 						}
+
 						result = VEHICLE_CMD_RESULT_FAILED;
 					}
 
@@ -1003,6 +1049,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 					/* write all parameters from RAM to EEPROM */
 					int write_ret = param_save_default();
+
 					if (write_ret == OK) {
 						mavlink_log_info(mavlink_fd, "[cmd] OK saved param file");
 						mavlink_log_info(mavlink_fd, param_get_default_file());
@@ -1012,10 +1059,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 						if (write_ret < -1) {
 							mavlink_log_info(mavlink_fd, "[cmd] ERR params file does not exit:");
 							mavlink_log_info(mavlink_fd, param_get_default_file());
+
 						} else {
 							mavlink_log_info(mavlink_fd, "[cmd] ERR writing params to");
 							mavlink_log_info(mavlink_fd, param_get_default_file());
 						}
+
 						result = VEHICLE_CMD_RESULT_FAILED;
 					}
 
@@ -1027,7 +1076,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 		}
 		break;
 
-		default: {
+	default: {
 			mavlink_log_critical(mavlink_fd, "[cmd] refusing unsupported command");
 			result = VEHICLE_CMD_RESULT_UNSUPPORTED;
 			/* announce command rejection */
@@ -1038,9 +1087,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 	/* supported command handling stop */
 	if (result == VEHICLE_CMD_RESULT_FAILED ||
-		result == VEHICLE_CMD_RESULT_DENIED ||
-		result == VEHICLE_CMD_RESULT_UNSUPPORTED) {
+	    result == VEHICLE_CMD_RESULT_DENIED ||
+	    result == VEHICLE_CMD_RESULT_UNSUPPORTED) {
 		ioctl(buzzer, TONE_SET_ALARM, 5);
+
 	} else if (result == VEHICLE_CMD_RESULT_ACCEPTED) {
 		tune_confirm();
 	}
@@ -1062,7 +1112,7 @@ static void *orb_receive_loop(void *arg)  //handles status information coming fr
 	int subsys_sub = orb_subscribe(ORB_ID(subsystem_info));
 	struct subsystem_info_s info;
 
-	struct vehicle_status_s *vstatus = (struct vehicle_status_s*)arg;
+	struct vehicle_status_s *vstatus = (struct vehicle_status_s *)arg;
 
 	while (!thread_should_exit) {
 		struct pollfd fds[1] = { { .fd = subsys_sub, .events = POLLIN } };
@@ -1078,6 +1128,7 @@ static void *orb_receive_loop(void *arg)  //handles status information coming fr
 			/* mark / unmark as present */
 			if (info.present) {
 				vstatus->onboard_control_sensors_present |= info.subsystem_type;
+
 			} else {
 				vstatus->onboard_control_sensors_present &= ~info.subsystem_type;
 			}
@@ -1085,6 +1136,7 @@ static void *orb_receive_loop(void *arg)  //handles status information coming fr
 			/* mark / unmark as enabled */
 			if (info.enabled) {
 				vstatus->onboard_control_sensors_enabled |= info.subsystem_type;
+
 			} else {
 				vstatus->onboard_control_sensors_enabled &= ~info.subsystem_type;
 			}
@@ -1092,6 +1144,7 @@ static void *orb_receive_loop(void *arg)  //handles status information coming fr
 			/* mark / unmark as ok */
 			if (info.ok) {
 				vstatus->onboard_control_sensors_health |= info.subsystem_type;
+
 			} else {
 				vstatus->onboard_control_sensors_health &= ~info.subsystem_type;
 			}
@@ -1142,6 +1195,7 @@ float battery_remaining_estimate_voltage(float voltage)
 		param_get(bat_volt_full, &chemistry_voltage_full);
 		param_get(bat_n_cells, &ncells);
 	}
+
 	counter++;
 
 	ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty));
@@ -1157,6 +1211,7 @@ usage(const char *reason)
 {
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
+
 	fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
 	exit(1);
 }
@@ -1165,7 +1220,7 @@ usage(const char *reason)
  * The daemon app only briefly exists to start
  * the background job. The stack size assigned in the
  * Makefile does only apply to this management task.
- * 
+ *
  * The actual stack size should be set in the call
  * to task_create().
  */
@@ -1201,9 +1256,11 @@ int commander_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
 			printf("\tcommander is running\n");
+
 		} else {
 			printf("\tcommander not started\n");
 		}
+
 		exit(0);
 	}
 
@@ -1360,23 +1417,28 @@ int commander_thread_main(int argc, char *argv[])
 		/* Get current values */
 		bool new_data;
 		orb_check(sp_man_sub, &new_data);
+
 		if (new_data) {
 			orb_copy(ORB_ID(manual_control_setpoint), sp_man_sub, &sp_man);
 		}
 
 		orb_check(sp_offboard_sub, &new_data);
+
 		if (new_data) {
 			orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard);
 		}
 
 		orb_check(sensor_sub, &new_data);
+
 		if (new_data) {
 			orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
+
 		} else {
 			sensors.battery_voltage_valid = false;
 		}
 
 		orb_check(cmd_sub, &new_data);
+
 		if (new_data) {
 			/* got command */
 			orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
@@ -1384,8 +1446,10 @@ int commander_thread_main(int argc, char *argv[])
 			/* handle it */
 			handle_command(stat_pub, &current_status, &cmd);
 		}
+
 		/* update parameters */
 		orb_check(param_changed_sub, &new_data);
+
 		if (new_data || param_init_forced) {
 			param_init_forced = false;
 			/* parameters changed */
@@ -1396,14 +1460,17 @@ int commander_thread_main(int argc, char *argv[])
 				if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
 					warnx("failed setting new system type");
 				}
+
 				/* disable manual override for all systems that rely on electronic stabilization */
 				if (current_status.system_type == VEHICLE_TYPE_QUADROTOR ||
 				    current_status.system_type == VEHICLE_TYPE_HEXAROTOR ||
 				    current_status.system_type == VEHICLE_TYPE_OCTOROTOR) {
 					current_status.flag_external_manual_override_ok = false;
+
 				} else {
 					current_status.flag_external_manual_override_ok = true;
 				}
+
 			} else {
 				printf("ARMED, rejecting sys type change\n");
 			}
@@ -1411,6 +1478,7 @@ int commander_thread_main(int argc, char *argv[])
 
 		/* update global position estimate */
 		orb_check(global_position_sub, &new_data);
+
 		if (new_data) {
 			/* position changed */
 			orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position);
@@ -1419,6 +1487,7 @@ int commander_thread_main(int argc, char *argv[])
 
 		/* update local position estimate */
 		orb_check(local_position_sub, &new_data);
+
 		if (new_data) {
 			/* position changed */
 			orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position);
@@ -1426,6 +1495,7 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		orb_check(battery_sub, &new_data);
+
 		if (new_data) {
 			orb_copy(ORB_ID(battery_status), battery_sub, &battery);
 			battery_voltage = battery.voltage_v;
@@ -1507,6 +1577,7 @@ int commander_thread_main(int argc, char *argv[])
 		/* write to sys_status */
 		if (battery_voltage_valid) {
 			current_status.voltage_battery = battery_voltage;
+
 		} else {
 			current_status.voltage_battery = 0.0f;
 		}
@@ -1560,13 +1631,15 @@ int commander_thread_main(int argc, char *argv[])
 		if (hrt_absolute_time() - last_global_position_time < 2000000) {
 			current_status.flag_global_position_valid = true;
 			// XXX check for controller status and home position as well
+
 		} else {
 			current_status.flag_global_position_valid = false;
 		}
-		
+
 		if (hrt_absolute_time() - last_local_position_time < 2000000) {
 			current_status.flag_local_position_valid = true;
 			// XXX check for controller status and home position as well
+
 		} else {
 			current_status.flag_local_position_valid = false;
 		}
@@ -1576,8 +1649,9 @@ int commander_thread_main(int argc, char *argv[])
 		 * for vector flight mode.
 		 */
 		if (current_status.flag_local_position_valid ||
-			current_status.flag_global_position_valid) {
+		    current_status.flag_global_position_valid) {
 			current_status.flag_vector_flight_mode_ok = true;
+
 		} else {
 			current_status.flag_vector_flight_mode_ok = false;
 		}
@@ -1594,14 +1668,14 @@ int commander_thread_main(int argc, char *argv[])
 		 * position. The MAV will return here on command or emergency.
 		 *
 		 * Conditions:
-		 * 
+		 *
 		 * 	1) The system aquired position lock just now
 		 *	2) The system has not aquired position lock before
 		 *	3) The system is not armed (on the ground)
 		 */
 		if (!current_status.flag_valid_launch_position &&
-			!vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok &&
-			!current_status.flag_system_armed) {
+		    !vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok &&
+		    !current_status.flag_system_armed) {
 			/* first time a valid position, store it and emit it */
 
 			// XXX implement storage and publication of RTL position
@@ -1762,11 +1836,11 @@ int commander_thread_main(int argc, char *argv[])
 				 * Do this only for multirotors, not for fixed wing aircraft.
 				 */
 				if (((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
-					(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
-					(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)
-					) &&
-					((sp_man.yaw < -STICK_ON_OFF_LIMIT)) &&
-					(sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) {
+				     (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
+				     (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)
+				    ) &&
+				    ((sp_man.yaw < -STICK_ON_OFF_LIMIT)) &&
+				    (sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) {
 					if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
 						update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
 						stick_on_counter = 0;
@@ -1793,6 +1867,7 @@ int commander_thread_main(int argc, char *argv[])
 				if (sp_man.manual_override_switch > STICK_ON_OFF_LIMIT) {
 					/* enable manual override */
 					update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
+
 				} else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) {
 					/* check auto mode switch for correct mode */
 					if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) {
@@ -1803,6 +1878,7 @@ int commander_thread_main(int argc, char *argv[])
 						update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
 
 					}
+
 				} else {
 					/* center stick position, set SAS for all vehicle types */
 					update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
@@ -1812,6 +1888,7 @@ int commander_thread_main(int argc, char *argv[])
 				if (!current_status.rc_signal_found_once) {
 					current_status.rc_signal_found_once = true;
 					mavlink_log_critical(mavlink_fd, "[cmd] DETECTED RC SIGNAL FIRST TIME.");
+
 				} else {
 					if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[cmd] RECOVERY - RC SIGNAL GAINED!");
 				}
@@ -1822,6 +1899,7 @@ int commander_thread_main(int argc, char *argv[])
 
 			} else {
 				static uint64_t last_print_time = 0;
+
 				/* print error message for first RC glitch and then every 5 s / 5000 ms) */
 				if (!current_status.rc_signal_cutting_off || ((hrt_absolute_time() - last_print_time) > 5000000)) {
 					/* only complain if the offboard control is NOT active */
@@ -1829,6 +1907,7 @@ int commander_thread_main(int argc, char *argv[])
 					mavlink_log_critical(mavlink_fd, "[cmd] CRITICAL - NO REMOTE SIGNAL!");
 					last_print_time = hrt_absolute_time();
 				}
+
 				/* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */
 				current_status.rc_signal_lost_interval = hrt_absolute_time() - sp_man.timestamp;
 
@@ -1845,7 +1924,7 @@ int commander_thread_main(int argc, char *argv[])
 			}
 		}
 
-		
+
 
 
 		/* End mode switch */
@@ -1859,8 +1938,8 @@ int commander_thread_main(int argc, char *argv[])
 
 				/* decide about attitude control flag, enable in att/pos/vel */
 				bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE ||
-					 sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY ||
-					 sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION);
+							      sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY ||
+							      sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION);
 
 				/* decide about rate control flag, enable it always XXX (for now) */
 				bool rates_ctrl_enabled = true;
@@ -1884,8 +1963,9 @@ int commander_thread_main(int argc, char *argv[])
 					current_status.flag_control_offboard_enabled = true;
 					state_changed = true;
 					tune_confirm();
-					
+
 					mavlink_log_critical(mavlink_fd, "[cmd] DETECTED OFFBOARD CONTROL SIGNAL FIRST");
+
 				} else {
 					if (current_status.offboard_control_signal_lost) {
 						mavlink_log_critical(mavlink_fd, "[cmd] OK:RECOVERY OFFBOARD CONTROL");
@@ -1903,18 +1983,21 @@ int commander_thread_main(int argc, char *argv[])
 					update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
 					/* switch to stabilized mode = takeoff */
 					update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
+
 				} else if (!sp_offboard.armed && current_status.flag_system_armed) {
 					update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
 				}
 
 			} else {
 				static uint64_t last_print_time = 0;
+
 				/* print error message for first RC glitch and then every 5 s / 5000 ms) */
 				if (!current_status.offboard_control_signal_weak || ((hrt_absolute_time() - last_print_time) > 5000000)) {
 					current_status.offboard_control_signal_weak = true;
 					mavlink_log_critical(mavlink_fd, "[cmd] CRIT:NO OFFBOARD CONTROL!");
 					last_print_time = hrt_absolute_time();
 				}
+
 				/* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */
 				current_status.offboard_control_signal_lost_interval = hrt_absolute_time() - sp_offboard.timestamp;
 
@@ -1925,7 +2008,7 @@ int commander_thread_main(int argc, char *argv[])
 					tune_confirm();
 
 					/* kill motors after timeout */
-					if (hrt_absolute_time() - current_status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms*1000) {
+					if (hrt_absolute_time() - current_status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms * 1000) {
 						current_status.failsave_lowlevel = true;
 						state_changed = true;
 					}
@@ -1943,7 +2026,7 @@ int commander_thread_main(int argc, char *argv[])
 		    current_status.flag_preflight_gyro_calibration == false &&
 		    current_status.flag_preflight_mag_calibration == false &&
 		    current_status.flag_preflight_accel_calibration == false) {
-		    	/* All ok, no calibration going on, go to standby */
+			/* All ok, no calibration going on, go to standby */
 			do_state_update(stat_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
 		}