Fixed code style for mavlink app

1 files changed, 73 insertions, 44 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");
 		}