examples fix code style

11 files changed, 201 insertions, 188 deletions

diff --git a/src/examples/fixedwing_control/main.c b/src/examples/fixedwing_control/main.c
index d8b777b91..17b27290c 100644
--- a/src/examples/fixedwing_control/main.c
+++ b/src/examples/fixedwing_control/main.c
@@ -112,8 +112,9 @@ static void usage(const char *reason);
  * @param att The current attitude. The controller should make the attitude match the setpoint
  * @param rates_sp The angular rate setpoint. This is the output of the controller.
  */
-void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp,
-	struct actuator_controls_s *actuators);
+void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
+		      struct vehicle_rates_setpoint_s *rates_sp,
+		      struct actuator_controls_s *actuators);
 
 /**
  * Control heading.
@@ -128,7 +129,7 @@ void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const st
  * @param att_sp The attitude setpoint. This is the output of the controller
  */
 void control_heading(const struct vehicle_global_position_s *pos, const struct position_setpoint_s *sp,
-	const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp);
+		     const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp);
 
 /* Variables */
 static bool thread_should_exit = false;		/**< Daemon exit flag */
@@ -137,8 +138,9 @@ static int deamon_task;				/**< Handle of deamon task / thread */
 static struct params p;
 static struct param_handles ph;
 
-void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp,
-	struct actuator_controls_s *actuators)
+void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
+		      struct vehicle_rates_setpoint_s *rates_sp,
+		      struct actuator_controls_s *actuators)
 {
 
 	/*
@@ -175,7 +177,7 @@ void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const st
 }
 
 void control_heading(const struct vehicle_global_position_s *pos, const struct position_setpoint_s *sp,
-	const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp)
+		     const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp)
 {
 
 	/*
@@ -192,6 +194,7 @@ void control_heading(const struct vehicle_global_position_s *pos, const struct p
 	/* limit output, this commonly is a tuning parameter, too */
 	if (att_sp->roll_body < -0.6f) {
 		att_sp->roll_body = -0.6f;
+
 	} else if (att_sp->roll_body > 0.6f) {
 		att_sp->roll_body = 0.6f;
 	}
@@ -285,7 +288,8 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 	/* Setup of loop */
 
 	struct pollfd fds[2] = {{ .fd = param_sub, .events = POLLIN },
-				{ .fd = att_sub, .events = POLLIN }};
+		{ .fd = att_sub, .events = POLLIN }
+	};
 
 	while (!thread_should_exit) {
 
@@ -345,12 +349,14 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 
 				if (manual_sp_updated)
 					/* get the RC (or otherwise user based) input */
+				{
 					orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
+				}
 
 				/* check if the throttle was ever more than 50% - go later only to failsafe if yes */
 				if (isfinite(manual_sp.z) &&
-							    (manual_sp.z >= 0.6f) &&
-							    (manual_sp.z <= 1.0f)) {
+				    (manual_sp.z >= 0.6f) &&
+				    (manual_sp.z <= 1.0f)) {
 				}
 
 				/* get the system status and the flight mode we're in */
@@ -378,8 +384,9 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 	thread_running = false;
 
 	/* kill all outputs */
-	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
 		actuators.control[i] = 0.0f;
+	}
 
 	orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 
@@ -393,8 +400,9 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 static void
 usage(const char *reason)
 {
-	if (reason)
+	if (reason) {
 		fprintf(stderr, "%s\n", reason);
+	}
 
 	fprintf(stderr, "usage: ex_fixedwing_control {start|stop|status}\n\n");
 	exit(1);
@@ -410,8 +418,9 @@ usage(const char *reason)
  */
 int ex_fixedwing_control_main(int argc, char *argv[])
 {
-	if (argc < 1)
+	if (argc < 1) {
 		usage("missing command");
+	}
 
 	if (!strcmp(argv[1], "start")) {
 
@@ -423,11 +432,11 @@ int ex_fixedwing_control_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 		deamon_task = task_spawn_cmd("ex_fixedwing_control",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 20,
-					 2048,
-					 fixedwing_control_thread_main,
-					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
+					     SCHED_DEFAULT,
+					     SCHED_PRIORITY_MAX - 20,
+					     2048,
+					     fixedwing_control_thread_main,
+					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		thread_running = true;
 		exit(0);
 	}
diff --git a/src/examples/flow_position_estimator/flow_position_estimator_main.c b/src/examples/flow_position_estimator/flow_position_estimator_main.c
index da4ea825b..f8e3f2dc5 100644
--- a/src/examples/flow_position_estimator/flow_position_estimator_main.c
+++ b/src/examples/flow_position_estimator/flow_position_estimator_main.c
@@ -81,8 +81,10 @@ static void usage(const char *reason);
 
 static void usage(const char *reason)
 {
-	if (reason)
+	if (reason) {
 		fprintf(stderr, "%s\n", reason);
+	}
+
 	fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
 	exit(1);
 }
@@ -97,13 +99,12 @@ static void usage(const char *reason)
  */
 int flow_position_estimator_main(int argc, char *argv[])
 {
-	if (argc < 1)
+	if (argc < 1) {
 		usage("missing command");
+	}
 
-	if (!strcmp(argv[1], "start"))
-	{
-		if (thread_running)
-		{
+	if (!strcmp(argv[1], "start")) {
+		if (thread_running) {
 			printf("flow position estimator already running\n");
 			/* this is not an error */
 			exit(0);
@@ -111,26 +112,26 @@ int flow_position_estimator_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 		daemon_task = task_spawn_cmd("flow_position_estimator",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 5,
-					 4000,
-					 flow_position_estimator_thread_main,
-					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
+					     SCHED_DEFAULT,
+					     SCHED_PRIORITY_MAX - 5,
+					     4000,
+					     flow_position_estimator_thread_main,
+					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
-	if (!strcmp(argv[1], "stop"))
-	{
+	if (!strcmp(argv[1], "stop")) {
 		thread_should_exit = true;
 		exit(0);
 	}
 
-	if (!strcmp(argv[1], "status"))
-	{
-		if (thread_running)
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
 			printf("\tflow position estimator is running\n");
-		else
+
+		} else {
 			printf("\tflow position estimator not started\n");
+		}
 
 		exit(0);
 	}
@@ -147,9 +148,10 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 
 	/* rotation matrix for transformation of optical flow speed vectors */
 	static const int8_t rotM_flow_sensor[3][3] =   {{  0, -1, 0 },
-													{ 1, 0, 0 },
-													{  0, 0, 1 }}; // 90deg rotated
-	const float time_scale = powf(10.0f,-6.0f);
+		{ 1, 0, 0 },
+		{  0, 0, 1 }
+	}; // 90deg rotated
+	const float time_scale = powf(10.0f, -6.0f);
 	static float speed[3] = {0.0f, 0.0f, 0.0f};
 	static float flow_speed[3] = {0.0f, 0.0f, 0.0f};
 	static float global_speed[3] = {0.0f, 0.0f, 0.0f};
@@ -192,18 +194,18 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 
 	/* init local position and filtered flow struct */
 	struct vehicle_local_position_s local_pos = {
-			.x = 0.0f,
-			.y = 0.0f,
-			.z = 0.0f,
-			.vx = 0.0f,
-			.vy = 0.0f,
-			.vz = 0.0f
+		.x = 0.0f,
+		.y = 0.0f,
+		.z = 0.0f,
+		.vx = 0.0f,
+		.vy = 0.0f,
+		.vz = 0.0f
 	};
 	struct filtered_bottom_flow_s filtered_flow = {
-			.sumx = 0.0f,
-			.sumy = 0.0f,
-			.vx = 0.0f,
-			.vy = 0.0f
+		.sumx = 0.0f,
+		.sumy = 0.0f,
+		.vx = 0.0f,
+		.vy = 0.0f
 	};
 
 	/* advert pub messages */
@@ -224,37 +226,29 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 	perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "flow_position_estimator_interval");
 	perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "flow_position_estimator_err");
 
-	while (!thread_should_exit)
-	{
+	while (!thread_should_exit) {
 
-		if (sensors_ready)
-		{
+		if (sensors_ready) {
 			/*This runs at the rate of the sensors */
 			struct pollfd fds[2] = {
-					{ .fd = optical_flow_sub, .events = POLLIN },
-					{ .fd = parameter_update_sub,   .events = POLLIN }
+				{ .fd = optical_flow_sub, .events = POLLIN },
+				{ .fd = parameter_update_sub,   .events = POLLIN }
 			};
 
 			/* wait for a sensor update, check for exit condition every 500 ms */
 			int ret = poll(fds, 2, 500);
 
-			if (ret < 0)
-			{
+			if (ret < 0) {
 				/* poll error, count it in perf */
 				perf_count(mc_err_perf);
 
-			}
-			else if (ret == 0)
-			{
+			} else if (ret == 0) {
 				/* no return value, ignore */
 //				printf("[flow position estimator] no bottom flow.\n");
-			}
-			else
-			{
+			} else {
 
 				/* parameter update available? */
-				if (fds[1].revents & POLLIN)
-				{
+				if (fds[1].revents & POLLIN) {
 					/* read from param to clear updated flag */
 					struct parameter_update_s update;
 					orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update);
@@ -264,8 +258,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 				}
 
 				/* only if flow data changed */
-				if (fds[0].revents & POLLIN)
-				{
+				if (fds[0].revents & POLLIN) {
 					perf_begin(mc_loop_perf);
 
 					orb_copy(ORB_ID(optical_flow), optical_flow_sub, &flow);
@@ -284,46 +277,48 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 					 * -> minimum sonar value 0.3m
 					 */
 
-					if (!vehicle_liftoff)
-					{
-						if (armed.armed && att_sp.thrust > params.minimum_liftoff_thrust && sonar_new > 0.3f && sonar_new < 1.0f)
+					if (!vehicle_liftoff) {
+						if (armed.armed && att_sp.thrust > params.minimum_liftoff_thrust && sonar_new > 0.3f && sonar_new < 1.0f) {
 							vehicle_liftoff = true;
-					}
-					else
-					{
-						if (!armed.armed || (att_sp.thrust < params.minimum_liftoff_thrust && sonar_new <= 0.3f))
+						}
+
+					} else {
+						if (!armed.armed || (att_sp.thrust < params.minimum_liftoff_thrust && sonar_new <= 0.3f)) {
 							vehicle_liftoff = false;
+						}
 					}
 
 					/* calc dt between flow timestamps */
 					/* ignore first flow msg */
-					if(time_last_flow == 0)
-					{
+					if (time_last_flow == 0) {
 						time_last_flow = flow.timestamp;
 						continue;
 					}
+
 					dt = (float)(flow.timestamp - time_last_flow) * time_scale ;
 					time_last_flow = flow.timestamp;
 
 					/* only make position update if vehicle is lift off or DEBUG is activated*/
-					if (vehicle_liftoff || params.debug)
-					{
+					if (vehicle_liftoff || params.debug) {
 						/* copy flow */
 						if (flow.integration_timespan > 0) {
 							flow_speed[0] = flow.pixel_flow_x_integral / (flow.integration_timespan / 1e6f) * flow.ground_distance_m;
 							flow_speed[1] = flow.pixel_flow_y_integral / (flow.integration_timespan / 1e6f) * flow.ground_distance_m;
+
 						} else {
 							flow_speed[0] = 0;
 							flow_speed[1] = 0;
 						}
+
 						flow_speed[2] = 0.0f;
 
 						/* convert to bodyframe velocity */
-						for(uint8_t i = 0; i < 3; i++)
-						{
+						for (uint8_t i = 0; i < 3; i++) {
 							float sum = 0.0f;
-							for(uint8_t j = 0; j < 3; j++)
+
+							for (uint8_t j = 0; j < 3; j++) {
 								sum = sum + flow_speed[j] * rotM_flow_sensor[j][i];
+							}
 
 							speed[i] = sum;
 						}
@@ -339,11 +334,12 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 						/* convert to globalframe velocity
 						 * -> local position is currently not used for position control
 						 */
-						for(uint8_t i = 0; i < 3; i++)
-						{
+						for (uint8_t i = 0; i < 3; i++) {
 							float sum = 0.0f;
-							for(uint8_t j = 0; j < 3; j++)
+
+							for (uint8_t j = 0; j < 3; j++) {
 								sum = sum + speed[j] * PX4_R(att.R, i, j);
+							}
 
 							global_speed[i] = sum;
 						}
@@ -354,9 +350,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 						local_pos.vy = global_speed[1];
 						local_pos.xy_valid = true;
 						local_pos.v_xy_valid = true;
-					}
-					else
-					{
+
+					} else {
 						/* set speed to zero and let position as it is */
 						filtered_flow.vx = 0;
 						filtered_flow.vy = 0;
@@ -367,24 +362,20 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 					}
 
 					/* filtering ground distance */
-					if (!vehicle_liftoff || !armed.armed)
-					{
+					if (!vehicle_liftoff || !armed.armed) {
 						/* not possible to fly */
 						sonar_valid = false;
 						local_pos.z = 0.0f;
 						local_pos.z_valid = false;
-					}
-					else
-					{
+
+					} else {
 						sonar_valid = true;
 					}
 
-					if (sonar_valid || params.debug)
-					{
+					if (sonar_valid || params.debug) {
 						/* simple lowpass sonar filtering */
 						/* if new value or with sonar update frequency */
-						if (sonar_new != sonar_last || counter % 10 == 0)
-						{
+						if (sonar_new != sonar_last || counter % 10 == 0) {
 							sonar_lp = 0.05f * sonar_new + 0.95f * sonar_lp;
 							sonar_last = sonar_new;
 						}
@@ -392,12 +383,10 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 						float height_diff = sonar_new - sonar_lp;
 
 						/* if over 1/2m spike follow lowpass */
-						if (height_diff < -params.sonar_lower_lp_threshold || height_diff > params.sonar_upper_lp_threshold)
-						{
+						if (height_diff < -params.sonar_lower_lp_threshold || height_diff > params.sonar_upper_lp_threshold) {
 							local_pos.z = -sonar_lp;
-						}
-						else
-						{
+
+						} else {
 							local_pos.z = -sonar_new;
 						}
 
@@ -408,15 +397,14 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 					local_pos.timestamp = hrt_absolute_time();
 
 					/* publish local position */
-					if(isfinite(local_pos.x) && isfinite(local_pos.y) && isfinite(local_pos.z)
-							&& isfinite(local_pos.vx) && isfinite(local_pos.vy))
-					{
+					if (isfinite(local_pos.x) && isfinite(local_pos.y) && isfinite(local_pos.z)
+					    && isfinite(local_pos.vx) && isfinite(local_pos.vy)) {
 						orb_publish(ORB_ID(vehicle_local_position), local_pos_pub, &local_pos);
 					}
 
 					/* publish filtered flow */
-					if(isfinite(filtered_flow.sumx) && isfinite(filtered_flow.sumy) && isfinite(filtered_flow.vx) && isfinite(filtered_flow.vy))
-					{
+					if (isfinite(filtered_flow.sumx) && isfinite(filtered_flow.sumy) && isfinite(filtered_flow.vx)
+					    && isfinite(filtered_flow.vy)) {
 						orb_publish(ORB_ID(filtered_bottom_flow), filtered_flow_pub, &filtered_flow);
 					}
 
@@ -427,9 +415,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 				}
 			}
 
-		}
-		else
-		{
+		} else {
 			/* sensors not ready waiting for first attitude msg */
 
 			/* polling */
@@ -440,19 +426,16 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
 			/* wait for a attitude message, check for exit condition every 5 s */
 			int ret = poll(fds, 1, 5000);
 
-			if (ret < 0)
-			{
+			if (ret < 0) {
 				/* poll error, count it in perf */
 				perf_count(mc_err_perf);
-			}
-			else if (ret == 0)
-			{
+
+			} else if (ret == 0) {
 				/* no return value, ignore */
 				printf("[flow position estimator] no attitude received.\n");
-			}
-			else
-			{
-				if (fds[0].revents & POLLIN){
+
+			} else {
+				if (fds[0].revents & POLLIN) {
 					sensors_ready = true;
 					printf("[flow position estimator] initialized.\n");
 				}
diff --git a/src/examples/matlab_csv_serial/matlab_csv_serial.c b/src/examples/matlab_csv_serial/matlab_csv_serial.c
index 145cf99cc..8e439bdac 100644
--- a/src/examples/matlab_csv_serial/matlab_csv_serial.c
+++ b/src/examples/matlab_csv_serial/matlab_csv_serial.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2014-2015 PX4 Development Team. All rights reserved.		 
+ *   Copyright (c) 2014-2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -73,8 +73,10 @@ static void usage(const char *reason);
 
 static void usage(const char *reason)
 {
-	if (reason)
+	if (reason) {
 		fprintf(stderr, "%s\n", reason);
+	}
+
 	fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
 	exit(1);
 }
@@ -89,13 +91,12 @@ static void usage(const char *reason)
  */
 int matlab_csv_serial_main(int argc, char *argv[])
 {
-	if (argc < 1)
+	if (argc < 1) {
 		usage("missing command");
+	}
 
-	if (!strcmp(argv[1], "start"))
-	{
-		if (thread_running)
-		{
+	if (!strcmp(argv[1], "start")) {
+		if (thread_running) {
 			warnx("already running\n");
 			/* this is not an error */
 			exit(0);
@@ -103,24 +104,23 @@ int matlab_csv_serial_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 		daemon_task = task_spawn_cmd("matlab_csv_serial",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 5,
-					 2000,
-					 matlab_csv_serial_thread_main,
-					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
+					     SCHED_DEFAULT,
+					     SCHED_PRIORITY_MAX - 5,
+					     2000,
+					     matlab_csv_serial_thread_main,
+					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
-	if (!strcmp(argv[1], "stop"))
-	{
+	if (!strcmp(argv[1], "stop")) {
 		thread_should_exit = true;
 		exit(0);
 	}
 
-	if (!strcmp(argv[1], "status"))
-	{
+	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
 			warnx("running");
+
 		} else {
 			warnx("stopped");
 		}
@@ -139,7 +139,7 @@ int matlab_csv_serial_thread_main(int argc, char *argv[])
 		errx(1, "need a serial port name as argument");
 	}
 
-	const char* uart_name = argv[1];
+	const char *uart_name = argv[1];
 
 	warnx("opening port %s", uart_name);
 
@@ -197,40 +197,35 @@ int matlab_csv_serial_thread_main(int argc, char *argv[])
 
 	thread_running = true;
 
-	while (!thread_should_exit)
-	{
+	while (!thread_should_exit) {
 
 		/*This runs at the rate of the sensors */
 		struct pollfd fds[] = {
-				{ .fd = accel0_sub, .events = POLLIN }
+			{ .fd = accel0_sub, .events = POLLIN }
 		};
 
 		/* wait for a sensor update, check for exit condition every 500 ms */
 		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), 500);
 
-		if (ret < 0)
-		{
+		if (ret < 0) {
 			/* poll error, ignore */
 
-		}
-		else if (ret == 0)
-		{
+		} else if (ret == 0) {
 			/* no return value, ignore */
 			warnx("no sensor data");
-		}
-		else
-		{
+
+		} else {
 
 			/* accel0 update available? */
-			if (fds[0].revents & POLLIN)
-			{
+			if (fds[0].revents & POLLIN) {
 				orb_copy(ORB_ID(sensor_accel), accel0_sub, &accel0);
 				orb_copy(ORB_ID(sensor_accel), accel1_sub, &accel1);
 				orb_copy(ORB_ID(sensor_gyro), gyro0_sub, &gyro0);
 				orb_copy(ORB_ID(sensor_gyro), gyro1_sub, &gyro1);
 
 				// write out on accel 0, but collect for all other sensors as they have updates
-				dprintf(serial_fd, "%llu,%d,%d,%d,%d,%d,%d\n", accel0.timestamp, (int)accel0.x_raw, (int)accel0.y_raw, (int)accel0.z_raw,
+				dprintf(serial_fd, "%llu,%d,%d,%d,%d,%d,%d\n", accel0.timestamp, (int)accel0.x_raw, (int)accel0.y_raw,
+					(int)accel0.z_raw,
 					(int)accel1.x_raw, (int)accel1.y_raw, (int)accel1.z_raw);
 			}
 
diff --git a/src/examples/publisher/publisher_example.h b/src/examples/publisher/publisher_example.h
index 8165b0ffc..0a66d3edc 100644
--- a/src/examples/publisher/publisher_example.h
+++ b/src/examples/publisher/publisher_example.h
@@ -40,7 +40,8 @@
 #pragma once
 #include <px4.h>
 
-class PublisherExample {
+class PublisherExample
+{
 public:
 	PublisherExample();
 
@@ -49,7 +50,7 @@ public:
 	int main();
 protected:
 	px4::NodeHandle _n;
-	px4::Publisher<px4::px4_rc_channels> * _rc_channels_pub;
-	px4::Publisher<px4::px4_vehicle_attitude> * _v_att_pub;
-	px4::Publisher<px4::px4_parameter_update> * _parameter_update_pub;
+	px4::Publisher<px4::px4_rc_channels> *_rc_channels_pub;
+	px4::Publisher<px4::px4_vehicle_attitude> *_v_att_pub;
+	px4::Publisher<px4::px4_parameter_update> *_parameter_update_pub;
 };
diff --git a/src/examples/publisher/publisher_start_nuttx.cpp b/src/examples/publisher/publisher_start_nuttx.cpp
index db9d85269..405b3c987 100644
--- a/src/examples/publisher/publisher_start_nuttx.cpp
+++ b/src/examples/publisher/publisher_start_nuttx.cpp
@@ -69,11 +69,11 @@ int publisher_main(int argc, char *argv[])
 		task_should_exit = false;
 
 		daemon_task = task_spawn_cmd("publisher",
-				       SCHED_DEFAULT,
-				       SCHED_PRIORITY_MAX - 5,
-				       2000,
-				       main,
-					(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
+					     SCHED_DEFAULT,
+					     SCHED_PRIORITY_MAX - 5,
+					     2000,
+					     main,
+					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 
 		exit(0);
 	}
diff --git a/src/examples/px4_daemon_app/px4_daemon_app.c b/src/examples/px4_daemon_app/px4_daemon_app.c
index 45d541137..860b1af78 100644
--- a/src/examples/px4_daemon_app/px4_daemon_app.c
+++ b/src/examples/px4_daemon_app/px4_daemon_app.c
@@ -34,7 +34,7 @@
 /**
  * @file px4_daemon_app.c
  * daemon application example for PX4 autopilot
- * 
+ *
  * @author Example User <mail@example.com>
  */
 
@@ -71,8 +71,10 @@ static void usage(const char *reason);
 static void
 usage(const char *reason)
 {
-	if (reason)
+	if (reason) {
 		warnx("%s\n", reason);
+	}
+
 	errx(1, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
 }
 
@@ -80,14 +82,15 @@ 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().
  */
 int px4_daemon_app_main(int argc, char *argv[])
 {
-	if (argc < 1)
+	if (argc < 1) {
 		usage("missing command");
+	}
 
 	if (!strcmp(argv[1], "start")) {
 
@@ -99,11 +102,11 @@ int px4_daemon_app_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 		daemon_task = task_spawn_cmd("daemon",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_DEFAULT,
-					 2000,
-					 px4_daemon_thread_main,
-					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
+					     SCHED_DEFAULT,
+					     SCHED_PRIORITY_DEFAULT,
+					     2000,
+					     px4_daemon_thread_main,
+					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
@@ -115,9 +118,11 @@ int px4_daemon_app_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
 			warnx("\trunning\n");
+
 		} else {
 			warnx("\tnot started\n");
 		}
+
 		exit(0);
 	}
 
@@ -125,7 +130,8 @@ int px4_daemon_app_main(int argc, char *argv[])
 	exit(1);
 }
 
-int px4_daemon_thread_main(int argc, char *argv[]) {
+int px4_daemon_thread_main(int argc, char *argv[])
+{
 
 	warnx("[daemon] starting\n");
 
diff --git a/src/examples/px4_simple_app/px4_simple_app.c b/src/examples/px4_simple_app/px4_simple_app.c
index 4e9f099ed..e22c59fa2 100644
--- a/src/examples/px4_simple_app/px4_simple_app.c
+++ b/src/examples/px4_simple_app/px4_simple_app.c
@@ -75,30 +75,33 @@ int px4_simple_app_main(int argc, char *argv[])
 	for (int i = 0; i < 5; i++) {
 		/* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */
 		int poll_ret = poll(fds, 1, 1000);
-	 
+
 		/* handle the poll result */
 		if (poll_ret == 0) {
 			/* this means none of our providers is giving us data */
 			printf("[px4_simple_app] Got no data within a second\n");
+
 		} else if (poll_ret < 0) {
 			/* this is seriously bad - should be an emergency */
 			if (error_counter < 10 || error_counter % 50 == 0) {
 				/* use a counter to prevent flooding (and slowing us down) */
 				printf("[px4_simple_app] ERROR return value from poll(): %d\n"
-					, poll_ret);
+				       , poll_ret);
 			}
+
 			error_counter++;
+
 		} else {
-	 
+
 			if (fds[0].revents & POLLIN) {
 				/* obtained data for the first file descriptor */
 				struct sensor_combined_s raw;
 				/* copy sensors raw data into local buffer */
 				orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw);
 				printf("[px4_simple_app] Accelerometer:\t%8.4f\t%8.4f\t%8.4f\n",
-					(double)raw.accelerometer_m_s2[0],
-					(double)raw.accelerometer_m_s2[1],
-					(double)raw.accelerometer_m_s2[2]);
+				       (double)raw.accelerometer_m_s2[0],
+				       (double)raw.accelerometer_m_s2[1],
+				       (double)raw.accelerometer_m_s2[2]);
 
 				/* set att and publish this information for other apps */
 				att.roll = raw.accelerometer_m_s2[0];
@@ -106,6 +109,7 @@ int px4_simple_app_main(int argc, char *argv[])
 				att.yaw = raw.accelerometer_m_s2[2];
 				orb_publish(ORB_ID(vehicle_attitude), att_pub, &att);
 			}
+
 			/* there could be more file descriptors here, in the form like:
 			 * if (fds[1..n].revents & POLLIN) {}
 			 */
diff --git a/src/examples/rover_steering_control/main.cpp b/src/examples/rover_steering_control/main.cpp
index 7ef914098..0f8eb800e 100644
--- a/src/examples/rover_steering_control/main.cpp
+++ b/src/examples/rover_steering_control/main.cpp
@@ -267,18 +267,27 @@ int rover_steering_control_thread_main(int argc, char *argv[])
 
 	/* subscribe to topics. */
 	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+
 	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));
+
 	int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
+
 	int param_sub = orb_subscribe(ORB_ID(parameter_update));
 
 	/* Setup of loop */
 
 	struct pollfd fds[2];
+
 	fds[0].fd = param_sub;
+
 	fds[0].events = POLLIN;
+
 	fds[1].fd = att_sub;
+
 	fds[1].events = POLLIN;
 
 	while (!thread_should_exit) {
@@ -371,6 +380,7 @@ int rover_steering_control_thread_main(int argc, char *argv[])
 	for (unsigned i = 0; i < (sizeof(actuators.control) / sizeof(actuators.control[0])); i++) {
 		actuators.control[i] = 0.0f;
 	}
+
 	actuators.timestamp = hrt_absolute_time();
 
 	orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
@@ -421,7 +431,7 @@ int rover_steering_control_main(int argc, char *argv[])
 					     SCHED_PRIORITY_MAX - 20,
 					     2048,
 					     rover_steering_control_thread_main,
-					     (argv) ? (char *const *)&argv[2] : (char *const *)NULL);
+					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		thread_running = true;
 		exit(0);
 	}
diff --git a/src/examples/subscriber/subscriber_example.cpp b/src/examples/subscriber/subscriber_example.cpp
index 496e1dcd8..5a23dc80b 100644
--- a/src/examples/subscriber/subscriber_example.cpp
+++ b/src/examples/subscriber/subscriber_example.cpp
@@ -43,7 +43,8 @@
 
 using namespace px4;
 
-void rc_channels_callback_function(const px4_rc_channels &msg) {
+void rc_channels_callback_function(const px4_rc_channels &msg)
+{
 	PX4_INFO("I heard: [%llu]", msg.data().timestamp_last_valid);
 }
 
@@ -81,21 +82,24 @@ SubscriberExample::SubscriberExample() :
  * This tutorial demonstrates simple receipt of messages over the PX4 middleware system.
  * Also the current value of the _sub_rc_chan subscription is printed
  */
-void SubscriberExample::rc_channels_callback(const px4_rc_channels &msg) {
+void SubscriberExample::rc_channels_callback(const px4_rc_channels &msg)
+{
 	PX4_INFO("rc_channels_callback (method): [%llu]",
-			msg.data().timestamp_last_valid);
+		 msg.data().timestamp_last_valid);
 	PX4_INFO("rc_channels_callback (method): value of _sub_rc_chan: [%llu]",
-			_sub_rc_chan->data().timestamp_last_valid);
+		 _sub_rc_chan->data().timestamp_last_valid);
 }
 
-void SubscriberExample::vehicle_attitude_callback(const px4_vehicle_attitude &msg) {
+void SubscriberExample::vehicle_attitude_callback(const px4_vehicle_attitude &msg)
+{
 	PX4_INFO("vehicle_attitude_callback (method): [%llu]",
-			msg.data().timestamp);
+		 msg.data().timestamp);
 }
 
-void SubscriberExample::parameter_update_callback(const px4_parameter_update &msg) {
+void SubscriberExample::parameter_update_callback(const px4_parameter_update &msg)
+{
 	PX4_INFO("parameter_update_callback (method): [%llu]",
-			msg.data().timestamp);
+		 msg.data().timestamp);
 	_p_sub_interv.update();
 	PX4_INFO("Param SUB_INTERV = %d", _p_sub_interv.get());
 	_p_test_float.update();
diff --git a/src/examples/subscriber/subscriber_example.h b/src/examples/subscriber/subscriber_example.h
index 686fed023..9eb5dd2a0 100644
--- a/src/examples/subscriber/subscriber_example.h
+++ b/src/examples/subscriber/subscriber_example.h
@@ -43,7 +43,8 @@ using namespace px4;
 
 void rc_channels_callback_function(const px4_rc_channels &msg);
 
-class SubscriberExample {
+class SubscriberExample
+{
 public:
 	SubscriberExample();
 
@@ -54,7 +55,7 @@ protected:
 	px4::NodeHandle _n;
 	px4::ParameterInt _p_sub_interv;
 	px4::ParameterFloat _p_test_float;
-	px4::Subscriber<px4_rc_channels> * _sub_rc_chan;
+	px4::Subscriber<px4_rc_channels> *_sub_rc_chan;
 
 
 	void rc_channels_callback(const px4_rc_channels &msg);
diff --git a/src/examples/subscriber/subscriber_start_nuttx.cpp b/src/examples/subscriber/subscriber_start_nuttx.cpp
index 6129b19ac..b450230c1 100644
--- a/src/examples/subscriber/subscriber_start_nuttx.cpp
+++ b/src/examples/subscriber/subscriber_start_nuttx.cpp
@@ -69,11 +69,11 @@ int subscriber_main(int argc, char *argv[])
 		task_should_exit = false;
 
 		daemon_task = task_spawn_cmd("subscriber",
-				       SCHED_DEFAULT,
-				       SCHED_PRIORITY_MAX - 5,
-				       2000,
-				       main,
-					(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
+					     SCHED_DEFAULT,
+					     SCHED_PRIORITY_MAX - 5,
+					     2000,
+					     main,
+					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 
 		exit(0);
 	}