Fixedwing controller code style

6 files changed, 392 insertions, 384 deletions

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
index 957036b41..b012448a2 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -112,9 +112,9 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc
 }
 
 int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-		const struct vehicle_attitude_s *att,
-		const float speed_body[],
-		struct vehicle_rates_setpoint_s *rates_sp)
+				   const struct vehicle_attitude_s *att,
+				   const float speed_body[],
+				   struct vehicle_rates_setpoint_s *rates_sp)
 {
 	static int counter = 0;
 	static bool initialized = false;
@@ -126,8 +126,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	static PID_t pitch_controller;
 
 
-	if(!initialized)
-	{
+	if (!initialized) {
 		parameters_init(&h);
 		parameters_update(&h, &p);
 		pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller
@@ -153,8 +152,8 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(sinf(att_sp->roll_body));
 	/* set pitch plus feedforward roll compensation */
 	rates_sp->pitch = pid_calculate(&pitch_controller,
-				att_sp->pitch_body + pitch_sp_rollcompensation,
-				att->pitch, 0, 0);
+					att_sp->pitch_body + pitch_sp_rollcompensation,
+					att->pitch, 0, 0);
 
 	/* Yaw (from coordinated turn constraint or lateral force) */
 	rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll))
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.h b/apps/fixedwing_att_control/fixedwing_att_control_att.h
index 11c932800..600e35b89 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.h
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.h
@@ -44,8 +44,8 @@
 #include <uORB/topics/vehicle_global_position.h>
 
 int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-		const struct vehicle_attitude_s *att,
-		const float speed_body[],
-		struct vehicle_rates_setpoint_s *rates_sp);
+				   const struct vehicle_attitude_s *att,
+				   const float speed_body[],
+				   struct vehicle_rates_setpoint_s *rates_sp);
 
 #endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c
index a36f1ce7d..aa9db6d52 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c
@@ -93,207 +93,211 @@ static int deamon_task;				/**< Handle of deamon task / thread */
 int fixedwing_att_control_thread_main(int argc, char *argv[])
 {
 	/* read arguments */
-		bool verbose = false;
+	bool verbose = false;
 
-		for (int i = 1; i < argc; i++) {
-			if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
-				verbose = true;
-			}
+	for (int i = 1; i < argc; i++) {
+		if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
+			verbose = true;
 		}
+	}
 
-		/* welcome user */
-		printf("[fixedwing att control] started\n");
-
-		/* declare and safely initialize all structs */
-		struct vehicle_attitude_s att;
-		memset(&att, 0, sizeof(att));
-		struct vehicle_attitude_setpoint_s att_sp;
-		memset(&att_sp, 0, sizeof(att_sp));
-		struct vehicle_rates_setpoint_s rates_sp;
-		memset(&rates_sp, 0, sizeof(rates_sp));
-		struct vehicle_global_position_s global_pos;
-		memset(&global_pos, 0, sizeof(global_pos));
-		struct manual_control_setpoint_s manual_sp;
-		memset(&manual_sp, 0, sizeof(manual_sp));
-		struct vehicle_status_s vstatus;
-		memset(&vstatus, 0, sizeof(vstatus));
-
-		/* output structs */
-		struct actuator_controls_s actuators;
-		memset(&actuators, 0, sizeof(actuators));
-
-
-		/* publish actuator controls */
-		for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
-			actuators.control[i] = 0.0f;
-		}
-		orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
-		orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
-
-		/* subscribe */
-		int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-		int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
-		int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-		int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-		int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
-
-		/* Setup of loop */
-		float gyro[3] = {0.0f, 0.0f, 0.0f};
-		float speed_body[3] = {0.0f, 0.0f, 0.0f};
-		struct pollfd fds = { .fd = att_sub, .events = POLLIN };
-
-		while(!thread_should_exit)
-		{
-			/* wait for a sensor update, check for exit condition every 500 ms */
-			poll(&fds, 1, 500);
-
-			/* Check if there is a new position measurement or  attitude setpoint */
-			bool pos_updated;
-			orb_check(global_pos_sub, &pos_updated);
-			bool att_sp_updated;
-			orb_check(att_sp_sub, &att_sp_updated);
-
-			/* get a local copy of attitude */
-			orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
-			if(att_sp_updated)
-				orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
-			if(pos_updated)
-			{
-				orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
-				if(att.R_valid)
-				{
-					speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz;
-					speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz;
-					speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz;
-				}
-				else
-				{
-					speed_body[0] = 0;
-					speed_body[1] = 0;
-					speed_body[2] = 0;
+	/* welcome user */
+	printf("[fixedwing att control] started\n");
+
+	/* declare and safely initialize all structs */
+	struct vehicle_attitude_s att;
+	memset(&att, 0, sizeof(att));
+	struct vehicle_attitude_setpoint_s att_sp;
+	memset(&att_sp, 0, sizeof(att_sp));
+	struct vehicle_rates_setpoint_s rates_sp;
+	memset(&rates_sp, 0, sizeof(rates_sp));
+	struct vehicle_global_position_s global_pos;
+	memset(&global_pos, 0, sizeof(global_pos));
+	struct manual_control_setpoint_s manual_sp;
+	memset(&manual_sp, 0, sizeof(manual_sp));
+	struct vehicle_status_s vstatus;
+	memset(&vstatus, 0, sizeof(vstatus));
+
+	/* output structs */
+	struct actuator_controls_s actuators;
+	memset(&actuators, 0, sizeof(actuators));
+
+
+	/* publish actuator controls */
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
+		actuators.control[i] = 0.0f;
+	}
 
-					printf("FW ATT CONTROL: Did not get a valid R\n");
-				}
+	orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
+	orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
+
+	/* subscribe */
+	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
+	int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
+
+	/* Setup of loop */
+	float gyro[3] = {0.0f, 0.0f, 0.0f};
+	float speed_body[3] = {0.0f, 0.0f, 0.0f};
+	struct pollfd fds = { .fd = att_sub, .events = POLLIN };
+
+	while (!thread_should_exit) {
+		/* wait for a sensor update, check for exit condition every 500 ms */
+		poll(&fds, 1, 500);
+
+		/* Check if there is a new position measurement or  attitude setpoint */
+		bool pos_updated;
+		orb_check(global_pos_sub, &pos_updated);
+		bool att_sp_updated;
+		orb_check(att_sp_sub, &att_sp_updated);
+
+		/* get a local copy of attitude */
+		orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
+
+		if (att_sp_updated)
+			orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
+
+		if (pos_updated) {
+			orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
+
+			if (att.R_valid) {
+				speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz;
+				speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz;
+				speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz;
+
+			} else {
+				speed_body[0] = 0;
+				speed_body[1] = 0;
+				speed_body[2] = 0;
+
+				printf("FW ATT CONTROL: Did not get a valid R\n");
 			}
+		}
 
-			orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
-			orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
+		orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
+		orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
 
-			gyro[0] = att.rollspeed;
-			gyro[1] = att.pitchspeed;
-			gyro[2] = att.yawspeed;
+		gyro[0] = att.rollspeed;
+		gyro[1] = att.pitchspeed;
+		gyro[2] = att.yawspeed;
 
-			/* control */
+		/* control */
 
-			if (vstatus.state_machine == SYSTEM_STATE_AUTO ||
-				vstatus.state_machine == SYSTEM_STATE_STABILIZED) {
-				/* attitude control */
-				fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
+		if (vstatus.state_machine == SYSTEM_STATE_AUTO ||
+		    vstatus.state_machine == SYSTEM_STATE_STABILIZED) {
+			/* attitude control */
+			fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
 
-				/* angular rate control */
-				fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
+			/* angular rate control */
+			fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
 
-				/* pass through throttle */
-				actuators.control[3] = att_sp.thrust;
+			/* pass through throttle */
+			actuators.control[3] = att_sp.thrust;
 
-				/* set flaps to zero */
-				actuators.control[4] = 0.0f;
+			/* set flaps to zero */
+			actuators.control[4] = 0.0f;
 
-			} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
-				if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
+		} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
+			if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
 
-					/* if the RC signal is lost, try to stay level and go slowly back down to ground */
-					if (vstatus.rc_signal_lost) {
-						
-						/* put plane into loiter */
-						att_sp.roll_body = 0.3f;
-						att_sp.pitch_body = 0.0f;
+				/* if the RC signal is lost, try to stay level and go slowly back down to ground */
+				if (vstatus.rc_signal_lost) {
 
-						/* limit throttle to 60 % of last value if sane */
-						if (isfinite(manual_sp.throttle) && 
-							(manual_sp.throttle >= 0.0f) &&
-							(manual_sp.throttle <= 1.0f)) {
-							att_sp.thrust = 0.6f * manual_sp.throttle;
-						} else {
-							att_sp.thrust = 0.0f;
-						}
-						att_sp.yaw_body = 0;
+					/* put plane into loiter */
+					att_sp.roll_body = 0.3f;
+					att_sp.pitch_body = 0.0f;
 
-						// XXX disable yaw control, loiter
+					/* limit throttle to 60 % of last value if sane */
+					if (isfinite(manual_sp.throttle) &&
+					    (manual_sp.throttle >= 0.0f) &&
+					    (manual_sp.throttle <= 1.0f)) {
+						att_sp.thrust = 0.6f * manual_sp.throttle;
 
 					} else {
-						
-						att_sp.roll_body = manual_sp.roll;
-						att_sp.pitch_body = manual_sp.pitch;
-						att_sp.yaw_body = 0;
-						att_sp.thrust = manual_sp.throttle;
+						att_sp.thrust = 0.0f;
 					}
 
-					att_sp.timestamp = hrt_absolute_time();
+					att_sp.yaw_body = 0;
 
-					/* attitude control */
-					fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
+					// XXX disable yaw control, loiter
 
-					/* angular rate control */
-					fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
+				} else {
 
-					/* pass through throttle */
-					actuators.control[3] = att_sp.thrust;
+					att_sp.roll_body = manual_sp.roll;
+					att_sp.pitch_body = manual_sp.pitch;
+					att_sp.yaw_body = 0;
+					att_sp.thrust = manual_sp.throttle;
+				}
 
-					/* pass through flaps */
-					if (isfinite(manual_sp.flaps)) {
-						actuators.control[4] = manual_sp.flaps;
-					} else {
-						actuators.control[4] = 0.0f;
-					}
+				att_sp.timestamp = hrt_absolute_time();
 
-				} else if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
-					/* directly pass through values */
-					actuators.control[0] = manual_sp.roll;
-					/* positive pitch means negative actuator -> pull up */
-					actuators.control[1] = manual_sp.pitch;
-					actuators.control[2] = manual_sp.yaw;
-					actuators.control[3] = manual_sp.throttle;
-					if (isfinite(manual_sp.flaps)) {
-						actuators.control[4] = manual_sp.flaps;
-					} else {
-						actuators.control[4] = 0.0f;
-					}
+				/* attitude control */
+				fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
+
+				/* angular rate control */
+				fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
+
+				/* pass through throttle */
+				actuators.control[3] = att_sp.thrust;
+
+				/* pass through flaps */
+				if (isfinite(manual_sp.flaps)) {
+					actuators.control[4] = manual_sp.flaps;
+
+				} else {
+					actuators.control[4] = 0.0f;
 				}
-			}
 
-			/* publish rates */
-			orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
+			} else if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
+				/* directly pass through values */
+				actuators.control[0] = manual_sp.roll;
+				/* positive pitch means negative actuator -> pull up */
+				actuators.control[1] = manual_sp.pitch;
+				actuators.control[2] = manual_sp.yaw;
+				actuators.control[3] = manual_sp.throttle;
+
+				if (isfinite(manual_sp.flaps)) {
+					actuators.control[4] = manual_sp.flaps;
 
-			/* sanity check and publish actuator outputs */
-			if (isfinite(actuators.control[0]) &&
-			    isfinite(actuators.control[1]) &&
-			    isfinite(actuators.control[2]) &&
-			    isfinite(actuators.control[3]))
-			{
-				orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+				} else {
+					actuators.control[4] = 0.0f;
+				}
 			}
 		}
 
-		printf("[fixedwing_att_control] exiting, stopping all motors.\n");
-		thread_running = false;
+		/* publish rates */
+		orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
+
+		/* sanity check and publish actuator outputs */
+		if (isfinite(actuators.control[0]) &&
+		    isfinite(actuators.control[1]) &&
+		    isfinite(actuators.control[2]) &&
+		    isfinite(actuators.control[3])) {
+			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+		}
+	}
+
+	printf("[fixedwing_att_control] exiting, stopping all motors.\n");
+	thread_running = false;
 
-		/* kill all outputs */
-		for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
-			actuators.control[i] = 0.0f;
+	/* kill all outputs */
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
+		actuators.control[i] = 0.0f;
 
-		orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+	orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 
 
 
-		close(att_sub);
-		close(actuator_pub);
-		close(rates_pub);
+	close(att_sub);
+	close(actuator_pub);
+	close(rates_pub);
 
-		fflush(stdout);
-		exit(0);
+	fflush(stdout);
+	exit(0);
 
-		return 0;
+	return 0;
 
 }
 
@@ -304,6 +308,7 @@ usage(const char *reason)
 {
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
+
 	fprintf(stderr, "usage: fixedwing_att_control {start|stop|status}\n\n");
 	exit(1);
 }
@@ -348,9 +353,11 @@ int fixedwing_att_control_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
 			printf("\tfixedwing_att_control is running\n");
+
 		} else {
 			printf("\tfixedwing_att_control not started\n");
 		}
+
 		exit(0);
 	}
 
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index f3e36c0ec..87b6e925c 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -157,8 +157,8 @@ static int parameters_update(const struct fw_rate_control_param_handles *h, stru
 }
 
 int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
-		const float rates[],
-		struct actuator_controls_s *actuators)
+				const float rates[],
+				struct actuator_controls_s *actuators)
 {
 	static int counter = 0;
 	static bool initialized = false;
@@ -174,8 +174,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
 	last_run = hrt_absolute_time();
 
-	if(!initialized)
-	{
+	if (!initialized) {
 		parameters_init(&h);
 		parameters_update(&h, &p);
 		pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.h b/apps/fixedwing_att_control/fixedwing_att_control_rate.h
index d394c3dac..500e3e197 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.h
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.h
@@ -42,7 +42,7 @@
 #include <uORB/topics/actuator_controls.h>
 
 int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
-		const float rates[],
-		struct actuator_controls_s *actuators);
+				const float rates[],
+				struct actuator_controls_s *actuators);
 
 #endif /* FIXEDWING_ATT_CONTROL_RATE_H_ */
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index fbd6138de..71c78f5b8 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -108,8 +108,8 @@ struct planned_path_segments_s {
 	double end_lon;
 	float radius;				// Radius of arc
 	float arc_start_bearing;		// Bearing from center to start of arc
-	float arc_sweep;				// Angle (radians) swept out by arc around center.  
-								// Positive for clockwise, negative for counter-clockwise
+	float arc_sweep;				// Angle (radians) swept out by arc around center.
+	// Positive for clockwise, negative for counter-clockwise
 };
 
 
@@ -176,241 +176,241 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc
 int fixedwing_pos_control_thread_main(int argc, char *argv[])
 {
 	/* read arguments */
-		bool verbose = false;
+	bool verbose = false;
 
-		for (int i = 1; i < argc; i++) {
-			if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
-				verbose = true;
-			}
+	for (int i = 1; i < argc; i++) {
+		if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
+			verbose = true;
 		}
+	}
+
+	/* welcome user */
+	printf("[fixedwing pos control] started\n");
+
+	/* declare and safely initialize all structs */
+	struct vehicle_global_position_s global_pos;
+	memset(&global_pos, 0, sizeof(global_pos));
+	struct vehicle_global_position_s start_pos;		// Temporary variable, replace with
+	memset(&start_pos, 0, sizeof(start_pos));		// previous waypoint when available
+	struct vehicle_global_position_setpoint_s global_setpoint;
+	memset(&global_setpoint, 0, sizeof(global_setpoint));
+	struct vehicle_attitude_s att;
+	memset(&att, 0, sizeof(att));
+	struct crosstrack_error_s xtrack_err;
+	memset(&xtrack_err, 0, sizeof(xtrack_err));
+	struct parameter_update_s param_update;
+	memset(&param_update, 0, sizeof(param_update));
+
+	/* output structs */
+	struct vehicle_attitude_setpoint_s attitude_setpoint;
+	memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
+
+	/* publish attitude setpoint */
+	attitude_setpoint.roll_body = 0.0f;
+	attitude_setpoint.pitch_body = 0.0f;
+	attitude_setpoint.yaw_body = 0.0f;
+	attitude_setpoint.thrust = 0.0f;
+	orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
+
+	/* subscribe */
+	int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
+	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	int param_sub = orb_subscribe(ORB_ID(parameter_update));
+
+	/* Setup of loop */
+	struct pollfd fds[2] = {
+		{ .fd = param_sub, .events = POLLIN },
+		{ .fd = att_sub, .events = POLLIN }
+	};
+	bool global_sp_updated_set_once = false;
+
+	float psi_track = 0.0f;
+
+	int counter = 0;
+
+	struct fw_pos_control_params p;
+	struct fw_pos_control_param_handles h;
+
+	PID_t heading_controller;
+	PID_t heading_rate_controller;
+	PID_t offtrack_controller;
+	PID_t altitude_controller;
+
+	parameters_init(&h);
+	parameters_update(&h, &p);
+	pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit
+	pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE);
+	pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE);
+	pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f * M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value
+
+	/* error and performance monitoring */
+	perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval");
+	perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err");
+
+	while (!thread_should_exit) {
+		/* wait for a sensor update, check for exit condition every 500 ms */
+		int ret = poll(fds, 2, 500);
+
+		if (ret < 0) {
+			/* poll error, count it in perf */
+			perf_count(fw_err_perf);
+
+		} else if (ret == 0) {
+			/* no return value, ignore */
+		} else {
+
+			/* only update parameters if they changed */
+			if (fds[0].revents & POLLIN) {
+				/* read from param to clear updated flag */
+				struct parameter_update_s update;
+				orb_copy(ORB_ID(parameter_update), param_sub, &update);
+
+				/* update parameters from storage */
+				parameters_update(&h, &p);
+				pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit
+				pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim);
+				pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
+				pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f * M_DEG_TO_RAD); //TODO: remove hardcoded value
+			}
+
+			/* only run controller if attitude changed */
+			if (fds[1].revents & POLLIN) {
+
+
+				static uint64_t last_run = 0;
+				const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+				last_run = hrt_absolute_time();
 
-		/* welcome user */
-		printf("[fixedwing pos control] started\n");
-
-		/* declare and safely initialize all structs */
-		struct vehicle_global_position_s global_pos;
-		memset(&global_pos, 0, sizeof(global_pos));
-		struct vehicle_global_position_s start_pos;		// Temporary variable, replace with
-		memset(&start_pos, 0, sizeof(start_pos));		// previous waypoint when available
-		struct vehicle_global_position_setpoint_s global_setpoint;
-		memset(&global_setpoint, 0, sizeof(global_setpoint));
-		struct vehicle_attitude_s att;
-		memset(&att, 0, sizeof(att));
-		struct crosstrack_error_s xtrack_err;
-		memset(&xtrack_err, 0, sizeof(xtrack_err));
-		struct parameter_update_s param_update;
-		memset(&param_update, 0, sizeof(param_update));
-		
-		/* output structs */
-		struct vehicle_attitude_setpoint_s attitude_setpoint;
-		memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
-
-		/* publish attitude setpoint */
-		attitude_setpoint.roll_body = 0.0f;
-		attitude_setpoint.pitch_body = 0.0f;
-		attitude_setpoint.yaw_body = 0.0f;
-		attitude_setpoint.thrust = 0.0f;
-		orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
-
-		/* subscribe */
-		int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-		int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
-		int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-		int param_sub = orb_subscribe(ORB_ID(parameter_update));
-
-		/* Setup of loop */
-		struct pollfd fds[2] = { 
-			{ .fd = param_sub, .events = POLLIN },
-			{ .fd = att_sub, .events = POLLIN }
-		};
-		bool global_sp_updated_set_once = false;
-
-		float psi_track = 0.0f;
-
-		int counter = 0;
-
-		struct fw_pos_control_params p;
-		struct fw_pos_control_param_handles h;
-
-		PID_t heading_controller;
-		PID_t heading_rate_controller;
-		PID_t offtrack_controller;
-		PID_t altitude_controller;
-
-		parameters_init(&h);
-		parameters_update(&h, &p);
-		pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit
-		pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE);
-		pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE);
-		pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f*M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value
-
-		/* error and performance monitoring */
-		perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval");
-		perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err");
-
-		while(!thread_should_exit)
-		{
-			/* wait for a sensor update, check for exit condition every 500 ms */
-			int ret = poll(fds, 2, 500);
-
-			if (ret < 0) {
-				/* poll error, count it in perf */
-				perf_count(fw_err_perf);
-			} else if (ret == 0) {
-				/* no return value, ignore */
-			} else {
-
-				/* only update parameters if they changed */
-				if (fds[0].revents & POLLIN) {
-					/* read from param to clear updated flag */
-					struct parameter_update_s update;
-					orb_copy(ORB_ID(parameter_update), param_sub, &update);
-
-					/* update parameters from storage */
-					parameters_update(&h, &p);
-					pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit
-					pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim);
-					pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
-					pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f*M_DEG_TO_RAD); //TODO: remove hardcoded value
+				/* check if there is a new position or setpoint */
+				bool pos_updated;
+				orb_check(global_pos_sub, &pos_updated);
+				bool global_sp_updated;
+				orb_check(global_setpoint_sub, &global_sp_updated);
+
+				/* load local copies */
+				orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
+
+				if (pos_updated) {
+					orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
 				}
 
-				/* only run controller if attitude changed */
-				if (fds[1].revents & POLLIN) {
+				if (global_sp_updated) {
+					orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
+					start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
+					global_sp_updated_set_once = true;
+					psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
+							(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
 
+					printf("next wp direction: %0.4f\n", (double)psi_track);
+				}
 
-					static uint64_t last_run = 0;
-					const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
-					last_run = hrt_absolute_time();
+				/* Simple Horizontal Control */
+				if (global_sp_updated_set_once) {
+					//				if (counter % 100 == 0)
+					//					printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
 
-					/* check if there is a new position or setpoint */
-					bool pos_updated;
-					orb_check(global_pos_sub, &pos_updated);
-					bool global_sp_updated;
-					orb_check(global_setpoint_sub, &global_sp_updated);
+					/* calculate crosstrack error */
+					// Only the case of a straight line track following handled so far
+					int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
+										(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
+										(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
 
-					/* load local copies */
-					orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
+					// XXX what is xtrack_err.past_end?
+					if (distance_res == OK /*&& !xtrack_err.past_end*/) {
 
-					if (pos_updated) {
-						orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
-					}
+						float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance
 
-					if (global_sp_updated) {
-						orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
-						start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
-						global_sp_updated_set_once = true;
-						psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
-								(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
-						
-						printf("next wp direction: %0.4f\n", (double)psi_track);
-					}
+						float psi_c = psi_track + delta_psi_c;
+						float psi_e = psi_c - att.yaw;
+
+						/* wrap difference back onto -pi..pi range */
+						psi_e = _wrap_pi(psi_e);
+
+						if (verbose) {
+							printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance);
+							printf("delta_psi_c %.4f ", (double)delta_psi_c);
+							printf("psi_c %.4f ", (double)psi_c);
+							printf("att.yaw %.4f ", (double)att.yaw);
+							printf("psi_e %.4f ", (double)psi_e);
+						}
 
-					/* Simple Horizontal Control */
-					if(global_sp_updated_set_once)
-					{
-		//				if (counter % 100 == 0)
-		//					printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
-
-						/* calculate crosstrack error */
-						// Only the case of a straight line track following handled so far
-						 int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
-								(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
-								(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
-
-						 // XXX what is xtrack_err.past_end?
-						if(distance_res == OK /*&& !xtrack_err.past_end*/) {
-
-							float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance
-
-							float psi_c = psi_track + delta_psi_c;
-							float psi_e = psi_c - att.yaw;
-							
-							/* wrap difference back onto -pi..pi range */
-							psi_e = _wrap_pi(psi_e);
-
-							if (verbose) {
-								printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance);
-								printf("delta_psi_c %.4f ", (double)delta_psi_c);
-								printf("psi_c %.4f ", (double)psi_c);
-								printf("att.yaw %.4f ", (double)att.yaw);
-								printf("psi_e %.4f ", (double)psi_e);
-							}
-
-							/* calculate roll setpoint, do this artificially around zero */
-							float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
-							float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following
-							float psi_rate_c = delta_psi_rate_c + psi_rate_track;
-
-							/* limit turn rate */
-							if(psi_rate_c > p.headingr_lim) {
-								psi_rate_c = p.headingr_lim;
-							} else if(psi_rate_c < -p.headingr_lim) {
-								psi_rate_c = -p.headingr_lim;
-							}
-
-							float psi_rate_e = psi_rate_c - att.yawspeed;
-
-							// XXX sanity check: Assume 10 m/s stall speed and no stall condition
-							float ground_speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
-
-							if (ground_speed < 10.0f) {
-								ground_speed = 10.0f;
-							}
-
-							float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g
-
-							attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
-
-							if (verbose) {
-								printf("psi_rate_c %.4f ", (double)psi_rate_c);
-								printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled);
-								printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body);
-							}
-
-							if (verbose && counter % 100 == 0)
-								printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);
-						} else {
-							if (verbose && counter % 100 == 0)
-								printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
+						/* calculate roll setpoint, do this artificially around zero */
+						float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
+						float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following
+						float psi_rate_c = delta_psi_rate_c + psi_rate_track;
+
+						/* limit turn rate */
+						if (psi_rate_c > p.headingr_lim) {
+							psi_rate_c = p.headingr_lim;
+
+						} else if (psi_rate_c < -p.headingr_lim) {
+							psi_rate_c = -p.headingr_lim;
 						}
 
-						/* Very simple Altitude Control */
-						if(pos_updated)
-						{
+						float psi_rate_e = psi_rate_c - att.yawspeed;
 
-							//TODO: take care of relative vs. ab. altitude
-							attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
+						// XXX sanity check: Assume 10 m/s stall speed and no stall condition
+						float ground_speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
 
+						if (ground_speed < 10.0f) {
+							ground_speed = 10.0f;
 						}
 
-						// XXX need speed control
-						attitude_setpoint.thrust = 0.7f;
+						float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g
 
-						/* publish the attitude setpoint */
-						orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
+						attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
 
-						/* measure in what intervals the controller runs */
-						perf_count(fw_interval_perf);
+						if (verbose) {
+							printf("psi_rate_c %.4f ", (double)psi_rate_c);
+							printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled);
+							printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body);
+						}
 
-						counter++;
+						if (verbose && counter % 100 == 0)
+							printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n", xtrack_err.distance, delta_psi_c);
 
 					} else {
-						// XXX no setpoint, decent default needed (loiter?)
+						if (verbose && counter % 100 == 0)
+							printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
 					}
+
+					/* Very simple Altitude Control */
+					if (pos_updated) {
+
+						//TODO: take care of relative vs. ab. altitude
+						attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
+
+					}
+
+					// XXX need speed control
+					attitude_setpoint.thrust = 0.7f;
+
+					/* publish the attitude setpoint */
+					orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
+
+					/* measure in what intervals the controller runs */
+					perf_count(fw_interval_perf);
+
+					counter++;
+
+				} else {
+					// XXX no setpoint, decent default needed (loiter?)
 				}
 			}
 		}
+	}
 
-		printf("[fixedwing_pos_control] exiting.\n");
-		thread_running = false;
+	printf("[fixedwing_pos_control] exiting.\n");
+	thread_running = false;
 
 
-		close(attitude_setpoint_pub);
+	close(attitude_setpoint_pub);
 
-		fflush(stdout);
-		exit(0);
+	fflush(stdout);
+	exit(0);
 
-		return 0;
+	return 0;
 
 }
 
@@ -421,6 +421,7 @@ usage(const char *reason)
 {
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
+
 	fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\n\n");
 	exit(1);
 }
@@ -465,9 +466,11 @@ int fixedwing_pos_control_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
 			printf("\tfixedwing_pos_control is running\n");
+
 		} else {
 			printf("\tfixedwing_pos_control not started\n");
 		}
+
 		exit(0);
 	}