whitespace/formatting

12 files changed, 129 insertions, 77 deletions

diff --git a/apps/px4io/comms.c b/apps/px4io/comms.c
index bc2142a4b..b815eda3c 100644
--- a/apps/px4io/comms.c
+++ b/apps/px4io/comms.c
@@ -110,6 +110,7 @@ comms_main(void)
 		if (fds.revents & POLLIN) {
 			char buf[32];
 			ssize_t count = read(fmu_fd, buf, sizeof(buf));
+
 			for (int i = 0; i < count; i++)
 				hx_stream_rx(stream, buf[i]);
 		}
@@ -123,7 +124,8 @@ comms_main(void)
 		/* should we send a report to the FMU? */
 		now = hrt_absolute_time();
 		delta = now - last_report_time;
-		if ((delta > FMU_MIN_REPORT_INTERVAL) && 
+
+		if ((delta > FMU_MIN_REPORT_INTERVAL) &&
 		    (system_state.fmu_report_due || (delta > FMU_MAX_REPORT_INTERVAL))) {
 
 			system_state.fmu_report_due = false;
@@ -132,6 +134,7 @@ comms_main(void)
 			/* populate the report */
 			for (unsigned i = 0; i < system_state.rc_channels; i++)
 				report.rc_channel[i] = system_state.rc_channel_data[i];
+
 			report.channel_count = system_state.rc_channels;
 			report.armed = system_state.armed;
 
@@ -172,7 +175,7 @@ comms_handle_command(const void *buffer, size_t length)
 		system_state.fmu_channel_data[i] = cmd->servo_command[i];
 
 	/* if the IO is armed and the FMU gets disarmed, the IO must also disarm */
-	if(system_state.arm_ok && !cmd->arm_ok) {
+	if (system_state.arm_ok && !cmd->arm_ok) {
 		system_state.armed = false;
 	}
 
@@ -185,7 +188,7 @@ comms_handle_command(const void *buffer, size_t length)
 //	if (!system_state.arm_ok && system_state.armed)
 //		system_state.armed = false;
 
-	/* XXX do relay changes here */	
+	/* XXX do relay changes here */
 	for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++)
 		system_state.relays[i] = cmd->relay_state[i];
 
@@ -204,14 +207,17 @@ comms_handle_frame(void *arg, const void *buffer, size_t length)
 		case F2I_MAGIC:
 			comms_handle_command(buffer, length);
 			break;
+
 		case F2I_CONFIG_MAGIC:
 			comms_handle_config(buffer, length);
 			break;
+
 		case F2I_MIXER_MAGIC:
 			mixer_handle_text(buffer, length);
 			break;
+
 		default:
-		    	frame_bad++;
+			frame_bad++;
 			break;
 		}
 	}
diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c
index 3b3782918..43e811ab0 100644
--- a/apps/px4io/controls.c
+++ b/apps/px4io/controls.c
@@ -90,6 +90,7 @@ controls_main(void)
 
 		if (fds[0].revents & POLLIN)
 			locked |= dsm_input();
+
 		if (fds[1].revents & POLLIN)
 			locked |= sbus_input();
 
@@ -139,6 +140,7 @@ ppm_input(void)
 
 		/* PPM data exists, copy it */
 		system_state.rc_channels = ppm_decoded_channels;
+
 		for (unsigned i = 0; i < ppm_decoded_channels; i++)
 			system_state.rc_channel_data[i] = ppm_buffer[i];
 
@@ -150,5 +152,5 @@ ppm_input(void)
 
 		/* trigger an immediate report to the FMU */
 		system_state.fmu_report_due = true;
-	}	
+	}
 }
diff --git a/apps/px4io/dsm.c b/apps/px4io/dsm.c
index 2611f3a03..560ef47d9 100644
--- a/apps/px4io/dsm.c
+++ b/apps/px4io/dsm.c
@@ -47,7 +47,7 @@
 #include <termios.h>
 
 #include <systemlib/ppm_decode.h>
- 
+
 #include <drivers/drv_hrt.h>
 
 #define DEBUG
@@ -97,6 +97,7 @@ dsm_init(const char *device)
 		dsm_guess_format(true);
 
 		debug("DSM: ready");
+
 	} else {
 		debug("DSM: open failed");
 	}
@@ -118,7 +119,7 @@ dsm_input(void)
 	 * frame transmission time is ~1.4ms.
 	 *
 	 * We expect to only be called when bytes arrive for processing,
-	 * and if an interval of more than 5ms passes between calls, 
+	 * and if an interval of more than 5ms passes between calls,
 	 * the first byte we read will be the first byte of a frame.
 	 *
 	 * In the case where byte(s) are dropped from a frame, this also
@@ -126,6 +127,7 @@ dsm_input(void)
 	 * if we didn't drop bytes...
 	 */
 	now = hrt_absolute_time();
+
 	if ((now - last_rx_time) > 5000) {
 		if (partial_frame_count > 0) {
 			dsm_frame_drops++;
@@ -142,6 +144,7 @@ dsm_input(void)
 	/* if the read failed for any reason, just give up here */
 	if (ret < 1)
 		goto out;
+
 	last_rx_time = now;
 
 	/*
@@ -153,7 +156,7 @@ dsm_input(void)
 	 * If we don't have a full frame, return
 	 */
 	if (partial_frame_count < DSM_FRAME_SIZE)
-	 	goto out;
+		goto out;
 
 	/*
 	 * Great, it looks like we might have a frame.  Go ahead and
@@ -164,7 +167,7 @@ dsm_input(void)
 
 out:
 	/*
-	 * If we have seen a frame in the last 200ms, we consider ourselves 'locked' 
+	 * If we have seen a frame in the last 200ms, we consider ourselves 'locked'
 	 */
 	return (now - last_frame_time) < 200000;
 }
@@ -212,6 +215,7 @@ dsm_guess_format(bool reset)
 		/* if the channel decodes, remember the assigned number */
 		if (dsm_decode_channel(raw, 10, &channel, &value) && (channel < 31))
 			cs10 |= (1 << channel);
+
 		if (dsm_decode_channel(raw, 11, &channel, &value) && (channel < 31))
 			cs11 |= (1 << channel);
 
@@ -222,7 +226,7 @@ dsm_guess_format(bool reset)
 	if (samples++ < 5)
 		return;
 
-	/* 
+	/*
 	 * Iterate the set of sensible sniffed channel sets and see whether
 	 * decoding in 10 or 11-bit mode has yielded anything we recognise.
 	 *
@@ -233,7 +237,7 @@ dsm_guess_format(bool reset)
 	 *     See e.g. http://git.openpilot.org/cru/OPReview-116 for a discussion
 	 *     of this issue.
 	 */
-	static uint32_t masks[] = { 
+	static uint32_t masks[] = {
 		0x3f,	/* 6 channels (DX6) */
 		0x7f,	/* 7 channels (DX7) */
 		0xff,	/* 8 channels (DX8) */
@@ -247,14 +251,17 @@ dsm_guess_format(bool reset)
 
 		if (cs10 == masks[i])
 			votes10++;
+
 		if (cs11 == masks[i])
 			votes11++;
 	}
+
 	if ((votes11 == 1) && (votes10 == 0)) {
 		channel_shift = 11;
 		debug("DSM: detected 11-bit format");
 		return;
 	}
+
 	if ((votes10 == 1) && (votes11 == 0)) {
 		channel_shift = 10;
 		debug("DSM: detected 10-bit format");
@@ -270,13 +277,13 @@ static void
 dsm_decode(hrt_abstime frame_time)
 {
 
-/*
-	debug("DSM frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x",
-	      frame[0], frame[1], frame[2], frame[3], frame[4], frame[5], frame[6], frame[7],
-	      frame[8], frame[9], frame[10], frame[11], frame[12], frame[13], frame[14], frame[15]);
-*/
 	/*
-	 * If we have lost signal for at least a second, reset the 
+		debug("DSM frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x",
+		      frame[0], frame[1], frame[2], frame[3], frame[4], frame[5], frame[6], frame[7],
+		      frame[8], frame[9], frame[10], frame[11], frame[12], frame[13], frame[14], frame[15]);
+	*/
+	/*
+	 * If we have lost signal for at least a second, reset the
 	 * format guessing heuristic.
 	 */
 	if (((frame_time - last_frame_time) > 1000000) && (channel_shift != 0))
@@ -292,7 +299,7 @@ dsm_decode(hrt_abstime frame_time)
 	}
 
 	/*
-	 * The encoding of the first two bytes is uncertain, so we're 
+	 * The encoding of the first two bytes is uncertain, so we're
 	 * going to ignore them for now.
 	 *
 	 * Each channel is a 16-bit unsigned value containing either a 10-
@@ -322,9 +329,10 @@ dsm_decode(hrt_abstime frame_time)
 		/* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
 		if (channel_shift == 11)
 			value /= 2;
+
 		value += 998;
 
-		/* 
+		/*
 		 * Store the decoded channel into the R/C input buffer, taking into
 		 * account the different ideas about channel assignement that we have.
 		 *
@@ -335,14 +343,18 @@ dsm_decode(hrt_abstime frame_time)
 		case 0:
 			channel = 2;
 			break;
+
 		case 1:
 			channel = 0;
 			break;
+
 		case 2:
 			channel = 1;
+
 		default:
 			break;
 		}
+
 		system_state.rc_channel_data[channel] = value;
 	}
 
diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp
index 9b3d65dba..0fd4ac717 100644
--- a/apps/px4io/mixer.cpp
+++ b/apps/px4io/mixer.cpp
@@ -69,9 +69,9 @@ static uint16_t *control_values;
 static int control_count;
 
 static int	mixer_callback(uintptr_t handle,
-			uint8_t control_group,
-			uint8_t control_index,
-			float &control);
+			       uint8_t control_group,
+			       uint8_t control_index,
+			       float &control);
 
 static MixerGroup mixer_group(mixer_callback, 0);
 
@@ -96,6 +96,7 @@ mixer_tick(void)
 			if (fmu_input_drops >= FMU_INPUT_DROP_LIMIT) {
 				system_state.mixer_use_fmu = false;
 			}
+
 		} else {
 			fmu_input_drops = 0;
 			system_state.fmu_data_received = false;
@@ -127,6 +128,7 @@ mixer_tick(void)
 			if (i < mixed) {
 				/* scale to servo output */
 				system_state.servos[i] = (outputs[i] * 500.0f) + 1500;
+
 			} else {
 				/* set to zero to inhibit PWM pulse output */
 				system_state.servos[i] = 0;
@@ -144,6 +146,7 @@ mixer_tick(void)
 	 * Decide whether the servos should be armed right now.
 	 */
 	should_arm = system_state.armed && system_state.arm_ok && (control_count > 0);
+
 	if (should_arm && !mixer_servos_armed) {
 		/* need to arm, but not armed */
 		up_pwm_servo_arm(true);
@@ -180,6 +183,7 @@ mixer_handle_text(const void *buffer, size_t length)
 	static unsigned mixer_text_length = 0;
 
 	px4io_mixdata	*msg = (px4io_mixdata *)buffer;
+
 	if (length < sizeof(px4io_mixdata))
 		return;
 
@@ -189,8 +193,10 @@ mixer_handle_text(const void *buffer, size_t length)
 	case F2I_MIXER_ACTION_RESET:
 		mixer_group.reset();
 		mixer_text_length = 0;
+
 		/* FALLTHROUGH */
 	case F2I_MIXER_ACTION_APPEND:
+
 		/* check for overflow - this is really fatal */
 		if ((mixer_text_length + text_length + 1) > sizeof(mixer_text))
 			return;
@@ -207,6 +213,7 @@ mixer_handle_text(const void *buffer, size_t length)
 		/* copy any leftover text to the base of the buffer for re-use */
 		if (mixer_text_length > 0)
 			memcpy(&mixer_text[0], end - mixer_text_length, mixer_text_length);
+
 		break;
 	}
 }
\ No newline at end of file
diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h
index 080d33001..979f2f8cb 100644
--- a/apps/px4io/protocol.h
+++ b/apps/px4io/protocol.h
@@ -60,7 +60,7 @@ struct px4io_command {
 };
 
 /**
- * Periodic report from IO to FMU 
+ * Periodic report from IO to FMU
  */
 struct px4io_report {
 	uint16_t	i2f_magic;
@@ -72,7 +72,7 @@ struct px4io_report {
 };
 
 /**
- * As-needed config message from FMU to IO 
+ * As-needed config message from FMU to IO
  */
 struct px4io_config {
 	uint16_t	f2i_config_magic;
diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c
index 230906662..74362617d 100644
--- a/apps/px4io/px4io.c
+++ b/apps/px4io/px4io.c
@@ -88,7 +88,7 @@ int user_start(int argc, char *argv[])
 	up_pwm_servo_init(0xff);
 
 	/* start the flight control signal handler */
-	task_create("FCon", 
+	task_create("FCon",
 		    SCHED_PRIORITY_DEFAULT,
 		    1024,
 		    (main_t)controls_main,
diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h
index f127df4a3..ad10961b4 100644
--- a/apps/px4io/px4io.h
+++ b/apps/px4io/px4io.h
@@ -31,11 +31,11 @@
  *
  ****************************************************************************/
 
- /**
-  * @file px4io.h
-  *
-  * General defines and structures for the PX4IO module firmware.
-  */
+/**
+ * @file px4io.h
+ *
+ * General defines and structures for the PX4IO module firmware.
+ */
 
 #include <nuttx/config.h>
 
@@ -66,8 +66,7 @@
 /*
  * System state structure.
  */
-struct sys_state_s 
-{
+struct sys_state_s {
 
 	bool		armed;			/* IO armed */
 	bool		arm_ok;			/* FMU says OK to arm */
diff --git a/apps/px4io/safety.c b/apps/px4io/safety.c
index 60d20905a..93596ca75 100644
--- a/apps/px4io/safety.c
+++ b/apps/px4io/safety.c
@@ -31,9 +31,9 @@
  *
  ****************************************************************************/
 
- /**
-  * @file Safety button logic.
-  */
+/**
+ * @file Safety button logic.
+ */
 
 #include <nuttx/config.h>
 #include <stdio.h>
@@ -95,13 +95,13 @@ safety_init(void)
 static void
 safety_check_button(void *arg)
 {
-	/* 
+	/*
 	 * Debounce the safety button, change state if it has been held for long enough.
 	 *
 	 */
 	safety_button_pressed = BUTTON_SAFETY;
 
-	if(safety_button_pressed) {
+	if (safety_button_pressed) {
 		//printf("Pressed, Arm counter: %d, Disarm counter: %d\n", arm_counter, disarm_counter);
 	}
 
@@ -109,34 +109,42 @@ safety_check_button(void *arg)
 	if (safety_button_pressed && !system_state.armed) {
 		if (counter < ARM_COUNTER_THRESHOLD) {
 			counter++;
+
 		} else if (counter == ARM_COUNTER_THRESHOLD) {
 			/* change to armed state and notify the FMU */
 			system_state.armed = true;
 			counter++;
 			system_state.fmu_report_due = true;
 		}
-	/* Disarm quickly */
+
+		/* Disarm quickly */
+
 	} else if (safety_button_pressed && system_state.armed) {
 		if (counter < DISARM_COUNTER_THRESHOLD) {
 			counter++;
+
 		} else if (counter == DISARM_COUNTER_THRESHOLD) {
 			/* change to disarmed state and notify the FMU */
 			system_state.armed = false;
 			counter++;
 			system_state.fmu_report_due = true;
 		}
+
 	} else {
 		counter = 0;
 	}
 
 	/* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */
 	uint16_t pattern = LED_PATTERN_SAFE;
+
 	if (system_state.armed) {
 		if (system_state.arm_ok) {
 			pattern = LED_PATTERN_IO_FMU_ARMED;
+
 		} else {
 			pattern = LED_PATTERN_IO_ARMED;
 		}
+
 	} else if (system_state.arm_ok) {
 		pattern = LED_PATTERN_FMU_ARMED;
 	}
@@ -167,8 +175,10 @@ failsafe_blink(void *arg)
 	/* blink the failsafe LED if we don't have FMU input */
 	if (!system_state.mixer_use_fmu) {
 		failsafe = !failsafe;
+
 	} else {
 		failsafe = false;
 	}
+
 	LED_AMBER(failsafe);
 }
\ No newline at end of file
diff --git a/apps/px4io/sbus.c b/apps/px4io/sbus.c
index a8f628a84..9679f657b 100644
--- a/apps/px4io/sbus.c
+++ b/apps/px4io/sbus.c
@@ -88,6 +88,7 @@ sbus_init(const char *device)
 		last_rx_time = hrt_absolute_time();
 
 		debug("Sbus: ready");
+
 	} else {
 		debug("Sbus: open failed");
 	}
@@ -109,7 +110,7 @@ sbus_input(void)
 	 * frame transmission time is ~2ms.
 	 *
 	 * We expect to only be called when bytes arrive for processing,
-	 * and if an interval of more than 3ms passes between calls, 
+	 * and if an interval of more than 3ms passes between calls,
 	 * the first byte we read will be the first byte of a frame.
 	 *
 	 * In the case where byte(s) are dropped from a frame, this also
@@ -117,6 +118,7 @@ sbus_input(void)
 	 * if we didn't drop bytes...
 	 */
 	now = hrt_absolute_time();
+
 	if ((now - last_rx_time) > 3000) {
 		if (partial_frame_count > 0) {
 			sbus_frame_drops++;
@@ -133,6 +135,7 @@ sbus_input(void)
 	/* if the read failed for any reason, just give up here */
 	if (ret < 1)
 		goto out;
+
 	last_rx_time = now;
 
 	/*
@@ -144,7 +147,7 @@ sbus_input(void)
 	 * If we don't have a full frame, return
 	 */
 	if (partial_frame_count < SBUS_FRAME_SIZE)
-	 	goto out;
+		goto out;
 
 	/*
 	 * Great, it looks like we might have a frame.  Go ahead and
@@ -155,7 +158,7 @@ sbus_input(void)
 
 out:
 	/*
-	 * If we have seen a frame in the last 200ms, we consider ourselves 'locked' 
+	 * If we have seen a frame in the last 200ms, we consider ourselves 'locked'
 	 */
 	return (now - last_frame_time) < 200000;
 }
@@ -177,23 +180,23 @@ struct sbus_bit_pick {
 	uint8_t mask;
 	uint8_t lshift;
 };
-static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = {	
-/*  0 */ { { 0, 0, 0xff, 0},{ 1, 0, 0x07, 8},{ 0, 0, 0x00,  0} },
-/*  1 */ { { 1, 3, 0x1f, 0},{ 2, 0, 0x3f, 5},{ 0, 0, 0x00,  0} },
-/*  2 */ { { 2, 6, 0x03, 0},{ 3, 0, 0xff, 2},{ 4, 0, 0x01, 10} },
-/*  3 */ { { 4, 1, 0x7f, 0},{ 5, 0, 0x0f, 7},{ 0, 0, 0x00,  0} },
-/*  4 */ { { 5, 4, 0x0f, 0},{ 6, 0, 0x7f, 4},{ 0, 0, 0x00,  0} },
-/*  5 */ { { 6, 7, 0x01, 0},{ 7, 0, 0xff, 1},{ 8, 0, 0x03,  9} },
-/*  6 */ { { 8, 2, 0x3f, 0},{ 9, 0, 0x1f, 6},{ 0, 0, 0x00,  0} },
-/*  7 */ { { 9, 5, 0x07, 0},{10, 0, 0xff, 3},{ 0, 0, 0x00,  0} },
-/*  8 */ { {11, 0, 0xff, 0},{12, 0, 0x07, 8},{ 0, 0, 0x00,  0} },
-/*  9 */ { {12, 3, 0x1f, 0},{13, 0, 0x3f, 5},{ 0, 0, 0x00,  0} },
-/* 10 */ { {13, 6, 0x03, 0},{14, 0, 0xff, 2},{15, 0, 0x01, 10} },
-/* 11 */ { {15, 1, 0x7f, 0},{16, 0, 0x0f, 7},{ 0, 0, 0x00,  0} },
-/* 12 */ { {16, 4, 0x0f, 0},{17, 0, 0x7f, 4},{ 0, 0, 0x00,  0} },
-/* 13 */ { {17, 7, 0x01, 0},{18, 0, 0xff, 1},{19, 0, 0x03,  9} },
-/* 14 */ { {19, 2, 0x3f, 0},{20, 0, 0x1f, 6},{ 0, 0, 0x00,  0} },
-/* 15 */ { {20, 5, 0x07, 0},{21, 0, 0xff, 3},{ 0, 0, 0x00,  0} }
+static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = {
+	/*  0 */ { { 0, 0, 0xff, 0}, { 1, 0, 0x07, 8}, { 0, 0, 0x00,  0} },
+	/*  1 */ { { 1, 3, 0x1f, 0}, { 2, 0, 0x3f, 5}, { 0, 0, 0x00,  0} },
+	/*  2 */ { { 2, 6, 0x03, 0}, { 3, 0, 0xff, 2}, { 4, 0, 0x01, 10} },
+	/*  3 */ { { 4, 1, 0x7f, 0}, { 5, 0, 0x0f, 7}, { 0, 0, 0x00,  0} },
+	/*  4 */ { { 5, 4, 0x0f, 0}, { 6, 0, 0x7f, 4}, { 0, 0, 0x00,  0} },
+	/*  5 */ { { 6, 7, 0x01, 0}, { 7, 0, 0xff, 1}, { 8, 0, 0x03,  9} },
+	/*  6 */ { { 8, 2, 0x3f, 0}, { 9, 0, 0x1f, 6}, { 0, 0, 0x00,  0} },
+	/*  7 */ { { 9, 5, 0x07, 0}, {10, 0, 0xff, 3}, { 0, 0, 0x00,  0} },
+	/*  8 */ { {11, 0, 0xff, 0}, {12, 0, 0x07, 8}, { 0, 0, 0x00,  0} },
+	/*  9 */ { {12, 3, 0x1f, 0}, {13, 0, 0x3f, 5}, { 0, 0, 0x00,  0} },
+	/* 10 */ { {13, 6, 0x03, 0}, {14, 0, 0xff, 2}, {15, 0, 0x01, 10} },
+	/* 11 */ { {15, 1, 0x7f, 0}, {16, 0, 0x0f, 7}, { 0, 0, 0x00,  0} },
+	/* 12 */ { {16, 4, 0x0f, 0}, {17, 0, 0x7f, 4}, { 0, 0, 0x00,  0} },
+	/* 13 */ { {17, 7, 0x01, 0}, {18, 0, 0xff, 1}, {19, 0, 0x03,  9} },
+	/* 14 */ { {19, 2, 0x3f, 0}, {20, 0, 0x1f, 6}, { 0, 0, 0x00,  0} },
+	/* 15 */ { {20, 5, 0x07, 0}, {21, 0, 0xff, 3}, { 0, 0, 0x00,  0} }
 };
 
 static void
@@ -213,8 +216,8 @@ sbus_decode(hrt_abstime frame_time)
 	/* we have received something we think is a frame */
 	last_frame_time = frame_time;
 
-	unsigned chancount = (PX4IO_INPUT_CHANNELS > SBUS_INPUT_CHANNELS) ? 
-		SBUS_INPUT_CHANNELS : PX4IO_INPUT_CHANNELS;
+	unsigned chancount = (PX4IO_INPUT_CHANNELS > SBUS_INPUT_CHANNELS) ?
+			     SBUS_INPUT_CHANNELS : PX4IO_INPUT_CHANNELS;
 
 	/* use the decoder matrix to extract channel data */
 	for (unsigned channel = 0; channel < chancount; channel++) {
@@ -232,6 +235,7 @@ sbus_decode(hrt_abstime frame_time)
 				value |= piece;
 			}
 		}
+
 		/* convert 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
 		system_state.rc_channel_data[channel] = (value / 2) + 998;
 	}
@@ -245,7 +249,7 @@ sbus_decode(hrt_abstime frame_time)
 	system_state.rc_channels = chancount;
 
 	/* and note that we have received data from the R/C controller */
-	system_state.rc_channels_timestamp = frame_time;	
+	system_state.rc_channels_timestamp = frame_time;
 
 	/* trigger an immediate report to the FMU */
 	system_state.fmu_report_due = true;
diff --git a/apps/systemcmds/mixer/mixer.c b/apps/systemcmds/mixer/mixer.c
index 8d73bfcc4..e2f7b5bd5 100644
--- a/apps/systemcmds/mixer/mixer.c
+++ b/apps/systemcmds/mixer/mixer.c
@@ -117,6 +117,8 @@ load(const char *devname, const char *fname)
 		if ((strlen(line) < 2) || !isupper(line[0]) || (line[1] != ':'))
 			continue;
 
+		/* XXX an optimisation here would be to strip extra whitespace */
+
 		/* if the line is too long to fit in the buffer, bail */
 		if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf))
 			break;
diff --git a/apps/systemlib/mixer/mixer_group.cpp b/apps/systemlib/mixer/mixer_group.cpp
index 6dfe4fbef..b98531c4d 100644
--- a/apps/systemlib/mixer/mixer_group.cpp
+++ b/apps/systemlib/mixer/mixer_group.cpp
@@ -91,7 +91,7 @@ MixerGroup::reset()
 		mixer = _first;
 		_first = mixer->_next;
 		delete mixer;
-	}	
+	}
 }
 
 unsigned
@@ -132,26 +132,32 @@ MixerGroup::load_from_buf(const char *buf, unsigned &buflen)
 
 		/* use the next character as a hint to decide which mixer class to construct */
 		switch (*p) {
-			case 'Z':
-				m = NullMixer::from_text(p, buflen);
-				break;
-			case 'M':
-				m = SimpleMixer::from_text(_control_cb, _cb_handle, p, buflen);
-				break;
-			case 'R':
-				m = MultirotorMixer::from_text(_control_cb, _cb_handle, p, buflen);
-				break;
-			default:
-				/* it's probably junk or whitespace */
-				break;
+		case 'Z':
+			m = NullMixer::from_text(p, buflen);
+			break;
+
+		case 'M':
+			m = SimpleMixer::from_text(_control_cb, _cb_handle, p, buflen);
+			break;
+
+		case 'R':
+			m = MultirotorMixer::from_text(_control_cb, _cb_handle, p, buflen);
+			break;
+
+		default:
+			/* it's probably junk or whitespace */
+			break;
 		}
+
 		if (m != nullptr) {
 			add_mixer(m);
 			ret = 0;
+
 		} else {
 			/* skip whitespace or junk in the buffer */
 			buflen--;
 		}
 	}
+
 	return ret;
 }
diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/apps/systemlib/mixer/mixer_multirotor.cpp
index 233025b21..3dd6dfcf7 100644
--- a/apps/systemlib/mixer/mixer_multirotor.cpp
+++ b/apps/systemlib/mixer/mixer_multirotor.cpp
@@ -166,10 +166,12 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 		debug("multirotor parse failed on '%s'", buf);
 		return nullptr;
 	}
+
 	if (used > (int)buflen) {
 		debug("multirotor spec used %d of %u", used, buflen);
 		return nullptr;
 	}
+
 	buflen -= used;
 
 	if (!strcmp(geomname, "4+")) {
@@ -226,10 +228,12 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 	/* keep roll, pitch and yaw control to 0 below min thrust */
 	if (thrust <= min_thrust) {
 		output_factor = 0.0f;
-	/* linearly increase the output factor from 0 to 1 between min_thrust and startpoint_full_control */
+		/* linearly increase the output factor from 0 to 1 between min_thrust and startpoint_full_control */
+
 	} else if (thrust < startpoint_full_control && thrust > min_thrust) {
-		output_factor = (thrust/max_thrust)/(startpoint_full_control-min_thrust);
-	/* and then stay at full control */
+		output_factor = (thrust / max_thrust) / (startpoint_full_control - min_thrust);
+		/* and then stay at full control */
+
 	} else {
 		output_factor = max_thrust;
 	}