Fix formatting

1 files changed, 433 insertions, 293 deletions

diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index bad788ad0..f674d6501 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -121,93 +121,91 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 
 	switch (status->nav_state) {
 
-	case NAVIGATION_STATE_MANUAL:
-		*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
-				      | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
-		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
-		break;
-
-	case NAVIGATION_STATE_ACRO:
-		*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
-		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
-		break;
-
-	case NAVIGATION_STATE_ALTCTL:
-		*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
-				      | MAV_MODE_FLAG_STABILIZE_ENABLED;
-		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
-		break;
-
-	case NAVIGATION_STATE_POSCTL:
-		*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
-				      | MAV_MODE_FLAG_STABILIZE_ENABLED
-				      | MAV_MODE_FLAG_GUIDED_ENABLED;
-		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
-		break;
-
-	case NAVIGATION_STATE_AUTO_MISSION:
-		*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
-				      | MAV_MODE_FLAG_STABILIZE_ENABLED
-				      | MAV_MODE_FLAG_GUIDED_ENABLED;
-		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
-		custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
-		break;
-
-	case NAVIGATION_STATE_AUTO_LOITER:
-		*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
-				      | MAV_MODE_FLAG_STABILIZE_ENABLED
-				      | MAV_MODE_FLAG_GUIDED_ENABLED;
-		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
-		custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
-		break;
-
-	case NAVIGATION_STATE_AUTO_RTL:
-
-		/* fallthrough */
-	case NAVIGATION_STATE_AUTO_RCRECOVER:
-		*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
-				      | MAV_MODE_FLAG_STABILIZE_ENABLED
-				      | MAV_MODE_FLAG_GUIDED_ENABLED;
-		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
-		custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
-		break;
-
-	case NAVIGATION_STATE_LAND:
-	case NAVIGATION_STATE_AUTO_LANDENGFAIL:
-	case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
-
-		/* fallthrough */
-	case NAVIGATION_STATE_DESCEND:
-		*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
-				      | MAV_MODE_FLAG_STABILIZE_ENABLED
-				      | MAV_MODE_FLAG_GUIDED_ENABLED;
-		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
-		custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
-		break;
-
-	case NAVIGATION_STATE_AUTO_RTGS:
-		*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
-				      | MAV_MODE_FLAG_STABILIZE_ENABLED
-				      | MAV_MODE_FLAG_GUIDED_ENABLED;
-		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
-		custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTGS;
-		break;
-
-	case NAVIGATION_STATE_TERMINATION:
-		*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
-		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
-		break;
-
-	case NAVIGATION_STATE_OFFBOARD:
-		*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
-				      | MAV_MODE_FLAG_STABILIZE_ENABLED
-				      | MAV_MODE_FLAG_GUIDED_ENABLED;
-		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD;
-		break;
-
-	case NAVIGATION_STATE_MAX:
-		/* this is an unused case, ignore */
-		break;
+		case NAVIGATION_STATE_MANUAL:
+			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
+			                      | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
+			break;
+
+		case NAVIGATION_STATE_ACRO:
+			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
+			break;
+
+		case NAVIGATION_STATE_ALTCTL:
+			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
+			break;
+
+		case NAVIGATION_STATE_POSCTL:
+			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
+					      | MAV_MODE_FLAG_GUIDED_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
+			break;
+
+		case NAVIGATION_STATE_AUTO_MISSION:
+			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
+					      | MAV_MODE_FLAG_GUIDED_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
+			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
+			break;
+
+		case NAVIGATION_STATE_AUTO_LOITER:
+			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
+					      | MAV_MODE_FLAG_GUIDED_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
+			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
+			break;
+
+		case NAVIGATION_STATE_AUTO_RTL:
+			/* fallthrough */
+		case NAVIGATION_STATE_AUTO_RCRECOVER:
+			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
+					      | MAV_MODE_FLAG_GUIDED_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
+			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
+			break;
+
+		case NAVIGATION_STATE_LAND:
+		case NAVIGATION_STATE_AUTO_LANDENGFAIL:
+		case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
+			/* fallthrough */
+		case NAVIGATION_STATE_DESCEND:
+			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
+					      | MAV_MODE_FLAG_GUIDED_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
+			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
+			break;
+
+		case NAVIGATION_STATE_AUTO_RTGS:
+			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
+					      | MAV_MODE_FLAG_GUIDED_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
+			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTGS;
+			break;
+
+		case NAVIGATION_STATE_TERMINATION:
+			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
+			break;
+
+		case NAVIGATION_STATE_OFFBOARD:
+			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
+					      | MAV_MODE_FLAG_GUIDED_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD;
+			break;
+
+		case NAVIGATION_STATE_MAX:
+			/* this is an unused case, ignore */
+			break;
 
 	}
 
@@ -240,23 +238,28 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 class MavlinkStreamHeartbeat : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamHeartbeat::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "HEARTBEAT";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_HEARTBEAT;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamHeartbeat(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return MAVLINK_MSG_ID_HEARTBEAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
@@ -270,7 +273,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamHeartbeat(MavlinkStreamHeartbeat &);
-	MavlinkStreamHeartbeat &operator = (const MavlinkStreamHeartbeat &);
+	MavlinkStreamHeartbeat& operator = (const MavlinkStreamHeartbeat &);
 
 protected:
 	explicit MavlinkStreamHeartbeat(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -278,7 +281,8 @@ protected:
 		_pos_sp_triplet_sub(_mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet)))
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct vehicle_status_s status;
 		struct position_setpoint_triplet_s pos_sp_triplet;
 
@@ -309,31 +313,34 @@ protected:
 class MavlinkStreamStatustext : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamStatustext::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "STATUSTEXT";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_STATUSTEXT;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamStatustext(mavlink);
 	}
 
 	unsigned get_size() {
-		return mavlink_logbuffer_is_empty(_mavlink->get_logbuffer()) ? 0 : (MAVLINK_MSG_ID_STATUSTEXT_LEN +
-				MAVLINK_NUM_NON_PAYLOAD_BYTES);
+		return mavlink_logbuffer_is_empty(_mavlink->get_logbuffer()) ? 0 : (MAVLINK_MSG_ID_STATUSTEXT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
 	}
 
 private:
 	/* do not allow top copying this class */
 	MavlinkStreamStatustext(MavlinkStreamStatustext &);
-	MavlinkStreamStatustext &operator = (const MavlinkStreamStatustext &);
+	MavlinkStreamStatustext& operator = (const MavlinkStreamStatustext &);
 	FILE *fp = nullptr;
 
 protected:
@@ -346,7 +353,8 @@ protected:
 		}
 	}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		if (!mavlink_logbuffer_is_empty(_mavlink->get_logbuffer())) {
 			struct mavlink_logmessage logmsg;
 			int lb_ret = mavlink_logbuffer_read(_mavlink->get_logbuffer(), &logmsg);
@@ -365,7 +373,6 @@ protected:
 						fputs(msg.text, fp);
 						fputs("\n", fp);
 						fsync(fileno(fp));
-
 					} else {
 						/* string to hold the path to the log */
 						char log_file_name[32] = "";
@@ -392,19 +399,23 @@ protected:
 class MavlinkStreamCommandLong : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamCommandLong::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "COMMAND_LONG";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_COMMAND_LONG;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamCommandLong(mavlink);
 	}
 
@@ -418,7 +429,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamCommandLong(MavlinkStreamCommandLong &);
-	MavlinkStreamCommandLong &operator = (const MavlinkStreamCommandLong &);
+	MavlinkStreamCommandLong& operator = (const MavlinkStreamCommandLong &);
 
 protected:
 	explicit MavlinkStreamCommandLong(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -426,7 +437,8 @@ protected:
 		_cmd_time(0)
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct vehicle_command_s cmd;
 
 		if (_cmd_sub->update(&_cmd_time, &cmd)) {
@@ -455,23 +467,28 @@ protected:
 class MavlinkStreamSysStatus : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamSysStatus::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "SYS_STATUS";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_SYS_STATUS;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamSysStatus(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return MAVLINK_MSG_ID_SYS_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
@@ -480,14 +497,15 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamSysStatus(MavlinkStreamSysStatus &);
-	MavlinkStreamSysStatus &operator = (const MavlinkStreamSysStatus &);
+	MavlinkStreamSysStatus& operator = (const MavlinkStreamSysStatus &);
 
 protected:
 	explicit MavlinkStreamSysStatus(Mavlink *mavlink) : MavlinkStream(mavlink),
 		_status_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_status)))
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct vehicle_status_s status;
 
 		if (_status_sub->update(&status)) {
@@ -516,23 +534,28 @@ protected:
 class MavlinkStreamHighresIMU : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamHighresIMU::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "HIGHRES_IMU";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_HIGHRES_IMU;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamHighresIMU(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return MAVLINK_MSG_ID_HIGHRES_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
@@ -547,7 +570,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamHighresIMU(MavlinkStreamHighresIMU &);
-	MavlinkStreamHighresIMU &operator = (const MavlinkStreamHighresIMU &);
+	MavlinkStreamHighresIMU& operator = (const MavlinkStreamHighresIMU &);
 
 protected:
 	explicit MavlinkStreamHighresIMU(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -559,7 +582,8 @@ protected:
 		_baro_timestamp(0)
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct sensor_combined_s sensor;
 
 		if (_sensor_sub->update(&_sensor_time, &sensor)) {
@@ -616,23 +640,28 @@ protected:
 class MavlinkStreamAttitude : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamAttitude::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "ATTITUDE";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_ATTITUDE;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamAttitude(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return MAVLINK_MSG_ID_ATTITUDE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
@@ -642,7 +671,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamAttitude(MavlinkStreamAttitude &);
-	MavlinkStreamAttitude &operator = (const MavlinkStreamAttitude &);
+	MavlinkStreamAttitude& operator = (const MavlinkStreamAttitude &);
 
 
 protected:
@@ -651,7 +680,8 @@ protected:
 		_att_time(0)
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct vehicle_attitude_s att;
 
 		if (_att_sub->update(&_att_time, &att)) {
@@ -674,23 +704,28 @@ protected:
 class MavlinkStreamAttitudeQuaternion : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamAttitudeQuaternion::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "ATTITUDE_QUATERNION";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamAttitudeQuaternion(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
@@ -700,7 +735,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamAttitudeQuaternion(MavlinkStreamAttitudeQuaternion &);
-	MavlinkStreamAttitudeQuaternion &operator = (const MavlinkStreamAttitudeQuaternion &);
+	MavlinkStreamAttitudeQuaternion& operator = (const MavlinkStreamAttitudeQuaternion &);
 
 protected:
 	explicit MavlinkStreamAttitudeQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -708,7 +743,8 @@ protected:
 		_att_time(0)
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct vehicle_attitude_s att;
 
 		if (_att_sub->update(&_att_time, &att)) {
@@ -733,23 +769,28 @@ class MavlinkStreamVFRHUD : public MavlinkStream
 {
 public:
 
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamVFRHUD::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "VFR_HUD";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_VFR_HUD;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamVFRHUD(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return MAVLINK_MSG_ID_VFR_HUD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
@@ -771,7 +812,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamVFRHUD(MavlinkStreamVFRHUD &);
-	MavlinkStreamVFRHUD &operator = (const MavlinkStreamVFRHUD &);
+	MavlinkStreamVFRHUD& operator = (const MavlinkStreamVFRHUD &);
 
 protected:
 	explicit MavlinkStreamVFRHUD(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -787,7 +828,8 @@ protected:
 		_airspeed_time(0)
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct vehicle_attitude_s att;
 		struct vehicle_global_position_s pos;
 		struct actuator_armed_s armed;
@@ -819,23 +861,28 @@ protected:
 class MavlinkStreamGPSRawInt : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamGPSRawInt::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "GPS_RAW_INT";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_GPS_RAW_INT;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamGPSRawInt(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return MAVLINK_MSG_ID_GPS_RAW_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
@@ -845,7 +892,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamGPSRawInt(MavlinkStreamGPSRawInt &);
-	MavlinkStreamGPSRawInt &operator = (const MavlinkStreamGPSRawInt &);
+	MavlinkStreamGPSRawInt& operator = (const MavlinkStreamGPSRawInt &);
 
 protected:
 	explicit MavlinkStreamGPSRawInt(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -853,7 +900,8 @@ protected:
 		_gps_time(0)
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct vehicle_gps_position_s gps;
 
 		if (_gps_sub->update(&_gps_time, &gps)) {
@@ -867,8 +915,8 @@ protected:
 			msg.eph = cm_uint16_from_m_float(gps.eph);
 			msg.epv = cm_uint16_from_m_float(gps.epv);
 			msg.vel = cm_uint16_from_m_float(gps.vel_m_s),
-			    msg.cog = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
-				msg.satellites_visible = gps.satellites_used;
+			msg.cog = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
+			msg.satellites_visible = gps.satellites_used;
 
 			_mavlink->send_message(MAVLINK_MSG_ID_GPS_RAW_INT, &msg);
 		}
@@ -965,23 +1013,28 @@ protected:
 class MavlinkStreamGlobalPositionInt : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamGlobalPositionInt::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "GLOBAL_POSITION_INT";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamGlobalPositionInt(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
@@ -994,7 +1047,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamGlobalPositionInt(MavlinkStreamGlobalPositionInt &);
-	MavlinkStreamGlobalPositionInt &operator = (const MavlinkStreamGlobalPositionInt &);
+	MavlinkStreamGlobalPositionInt& operator = (const MavlinkStreamGlobalPositionInt &);
 
 protected:
 	explicit MavlinkStreamGlobalPositionInt(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -1004,7 +1057,8 @@ protected:
 		_home_time(0)
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct vehicle_global_position_s pos;
 		struct home_position_s home;
 
@@ -1033,23 +1087,28 @@ protected:
 class MavlinkStreamLocalPositionNED : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamLocalPositionNED::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "LOCAL_POSITION_NED";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_LOCAL_POSITION_NED;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamLocalPositionNED(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
@@ -1059,7 +1118,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamLocalPositionNED(MavlinkStreamLocalPositionNED &);
-	MavlinkStreamLocalPositionNED &operator = (const MavlinkStreamLocalPositionNED &);
+	MavlinkStreamLocalPositionNED& operator = (const MavlinkStreamLocalPositionNED &);
 
 protected:
 	explicit MavlinkStreamLocalPositionNED(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -1067,7 +1126,8 @@ protected:
 		_pos_time(0)
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct vehicle_local_position_s pos;
 
 		if (_pos_sub->update(&_pos_time, &pos)) {
@@ -1090,23 +1150,28 @@ protected:
 class MavlinkStreamViconPositionEstimate : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamViconPositionEstimate::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "VICON_POSITION_ESTIMATE";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamViconPositionEstimate(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
@@ -1116,7 +1181,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamViconPositionEstimate(MavlinkStreamViconPositionEstimate &);
-	MavlinkStreamViconPositionEstimate &operator = (const MavlinkStreamViconPositionEstimate &);
+	MavlinkStreamViconPositionEstimate& operator = (const MavlinkStreamViconPositionEstimate &);
 
 protected:
 	explicit MavlinkStreamViconPositionEstimate(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -1124,7 +1189,8 @@ protected:
 		_pos_time(0)
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct vehicle_vicon_position_s pos;
 
 		if (_pos_sub->update(&_pos_time, &pos)) {
@@ -1147,23 +1213,28 @@ protected:
 class MavlinkStreamGPSGlobalOrigin : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamGPSGlobalOrigin::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "GPS_GLOBAL_ORIGIN";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamGPSGlobalOrigin(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return _home_sub->is_published() ? (MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
 	}
 
@@ -1172,14 +1243,15 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamGPSGlobalOrigin(MavlinkStreamGPSGlobalOrigin &);
-	MavlinkStreamGPSGlobalOrigin &operator = (const MavlinkStreamGPSGlobalOrigin &);
+	MavlinkStreamGPSGlobalOrigin& operator = (const MavlinkStreamGPSGlobalOrigin &);
 
 protected:
 	explicit MavlinkStreamGPSGlobalOrigin(Mavlink *mavlink) : MavlinkStream(mavlink),
 		_home_sub(_mavlink->add_orb_subscription(ORB_ID(home_position)))
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		/* we're sending the GPS home periodically to ensure the
 		 * the GCS does pick it up at one point */
 		if (_home_sub->is_published()) {
@@ -1203,35 +1275,40 @@ template <int N>
 class MavlinkStreamServoOutputRaw : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamServoOutputRaw<N>::get_name_static();
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		switch (N) {
-		case 0:
+			case 0:
 			return "SERVO_OUTPUT_RAW_0";
 
-		case 1:
+			case 1:
 			return "SERVO_OUTPUT_RAW_1";
 
-		case 2:
+			case 2:
 			return "SERVO_OUTPUT_RAW_2";
 
-		case 3:
+			case 3:
 			return "SERVO_OUTPUT_RAW_3";
 		}
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamServoOutputRaw<N>(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
@@ -1241,12 +1318,13 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamServoOutputRaw(MavlinkStreamServoOutputRaw &);
-	MavlinkStreamServoOutputRaw &operator = (const MavlinkStreamServoOutputRaw &);
+	MavlinkStreamServoOutputRaw& operator = (const MavlinkStreamServoOutputRaw &);
 
 protected:
 	explicit MavlinkStreamServoOutputRaw(Mavlink *mavlink) : MavlinkStream(mavlink),
 		_act_sub(nullptr),
-		_act_time(0) {
+		_act_time(0)
+	{
 		orb_id_t act_topics[] = {
 			ORB_ID(actuator_outputs_0),
 			ORB_ID(actuator_outputs_1),
@@ -1257,7 +1335,8 @@ protected:
 		_act_sub = _mavlink->add_orb_subscription(act_topics[N]);
 	}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct actuator_outputs_s act;
 
 		if (_act_sub->update(&_act_time, &act)) {
@@ -1283,23 +1362,28 @@ protected:
 class MavlinkStreamHILControls : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamHILControls::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "HIL_CONTROLS";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_HIL_CONTROLS;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamHILControls(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return MAVLINK_MSG_ID_HIL_CONTROLS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
@@ -1315,7 +1399,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamHILControls(MavlinkStreamHILControls &);
-	MavlinkStreamHILControls &operator = (const MavlinkStreamHILControls &);
+	MavlinkStreamHILControls& operator = (const MavlinkStreamHILControls &);
 
 protected:
 	explicit MavlinkStreamHILControls(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -1327,7 +1411,8 @@ protected:
 		_act_time(0)
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct vehicle_status_s status;
 		struct position_setpoint_triplet_s pos_sp_triplet;
 		struct actuator_outputs_s act;
@@ -1443,23 +1528,28 @@ protected:
 class MavlinkStreamPositionTargetGlobalInt : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamPositionTargetGlobalInt::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "POSITION_TARGET_GLOBAL_INT";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamPositionTargetGlobalInt(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
@@ -1468,18 +1558,19 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamPositionTargetGlobalInt(MavlinkStreamPositionTargetGlobalInt &);
-	MavlinkStreamPositionTargetGlobalInt &operator = (const MavlinkStreamPositionTargetGlobalInt &);
+	MavlinkStreamPositionTargetGlobalInt& operator = (const MavlinkStreamPositionTargetGlobalInt &);
 
 protected:
 	explicit MavlinkStreamPositionTargetGlobalInt(Mavlink *mavlink) : MavlinkStream(mavlink),
 		_pos_sp_triplet_sub(_mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet)))
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct position_setpoint_triplet_s pos_sp_triplet;
 
 		if (_pos_sp_triplet_sub->update(&pos_sp_triplet)) {
-			mavlink_position_target_global_int_t msg {};
+			mavlink_position_target_global_int_t msg{};
 
 			msg.coordinate_frame = MAV_FRAME_GLOBAL;
 			msg.lat_int = pos_sp_triplet.current.lat * 1e7;
@@ -1495,23 +1586,28 @@ protected:
 class MavlinkStreamLocalPositionSetpoint : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamLocalPositionSetpoint::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "POSITION_TARGET_LOCAL_NED";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamLocalPositionSetpoint(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
@@ -1521,7 +1617,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamLocalPositionSetpoint(MavlinkStreamLocalPositionSetpoint &);
-	MavlinkStreamLocalPositionSetpoint &operator = (const MavlinkStreamLocalPositionSetpoint &);
+	MavlinkStreamLocalPositionSetpoint& operator = (const MavlinkStreamLocalPositionSetpoint &);
 
 protected:
 	explicit MavlinkStreamLocalPositionSetpoint(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -1529,11 +1625,12 @@ protected:
 		_pos_sp_time(0)
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct vehicle_local_position_setpoint_s pos_sp;
 
 		if (_pos_sp_sub->update(&_pos_sp_time, &pos_sp)) {
-			mavlink_position_target_local_ned_t msg {};
+			mavlink_position_target_local_ned_t msg{};
 
 			msg.time_boot_ms = pos_sp.timestamp / 1000;
 			msg.coordinate_frame = MAV_FRAME_LOCAL_NED;
@@ -1550,23 +1647,28 @@ protected:
 class MavlinkStreamAttitudeTarget : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamAttitudeTarget::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "ATTITUDE_TARGET";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_ATTITUDE_TARGET;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamAttitudeTarget(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
@@ -1578,7 +1680,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamAttitudeTarget(MavlinkStreamAttitudeTarget &);
-	MavlinkStreamAttitudeTarget &operator = (const MavlinkStreamAttitudeTarget &);
+	MavlinkStreamAttitudeTarget& operator = (const MavlinkStreamAttitudeTarget &);
 
 protected:
 	explicit MavlinkStreamAttitudeTarget(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -1588,7 +1690,8 @@ protected:
 		_att_rates_sp_time(0)
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct vehicle_attitude_setpoint_s att_sp;
 
 		if (_att_sp_sub->update(&_att_sp_time, &att_sp)) {
@@ -1596,7 +1699,7 @@ protected:
 			struct vehicle_rates_setpoint_s att_rates_sp;
 			(void)_att_rates_sp_sub->update(&_att_rates_sp_time, &att_rates_sp);
 
-			mavlink_attitude_target_t msg {};
+			mavlink_attitude_target_t msg{};
 
 			msg.time_boot_ms = att_sp.timestamp / 1000;
 			mavlink_euler_to_quaternion(att_sp.roll_body, att_sp.pitch_body, att_sp.yaw_body, msg.q);
@@ -1616,26 +1719,30 @@ protected:
 class MavlinkStreamRCChannelsRaw : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamRCChannelsRaw::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "RC_CHANNELS_RAW";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_RC_CHANNELS_RAW;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamRCChannelsRaw(mavlink);
 	}
 
-	unsigned get_size() {
-		return _rc_sub->is_published() ? ((RC_INPUT_MAX_CHANNELS / 8) * (MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN +
-						  MAVLINK_NUM_NON_PAYLOAD_BYTES) +
-						  MAVLINK_MSG_ID_RC_CHANNELS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
+	unsigned get_size()
+	{
+		return _rc_sub->is_published() ? ((RC_INPUT_MAX_CHANNELS / 8) * (MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) +
+				MAVLINK_MSG_ID_RC_CHANNELS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
 	}
 
 private:
@@ -1644,7 +1751,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamRCChannelsRaw(MavlinkStreamRCChannelsRaw &);
-	MavlinkStreamRCChannelsRaw &operator = (const MavlinkStreamRCChannelsRaw &);
+	MavlinkStreamRCChannelsRaw& operator = (const MavlinkStreamRCChannelsRaw &);
 
 protected:
 	explicit MavlinkStreamRCChannelsRaw(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -1652,7 +1759,8 @@ protected:
 		_rc_time(0)
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct rc_input_values rc;
 
 		if (_rc_sub->update(&_rc_time, &rc)) {
@@ -1728,24 +1836,20 @@ protected:
 			msg.rssi |= (rc.rssi <= 100) ? ((rc.rssi / 7) + 1) : 15;
 
 			switch (rc.input_source) {
-			case RC_INPUT_SOURCE_PX4FMU_PPM:
-
+				case RC_INPUT_SOURCE_PX4FMU_PPM:
 				/* fallthrough */
-			case RC_INPUT_SOURCE_PX4IO_PPM:
-				msg.rssi |= (0 << 4);
-				break;
-
-			case RC_INPUT_SOURCE_PX4IO_SPEKTRUM:
-				msg.rssi |= (1 << 4);
-				break;
-
-			case RC_INPUT_SOURCE_PX4IO_SBUS:
-				msg.rssi |= (2 << 4);
-				break;
-
-			case RC_INPUT_SOURCE_PX4IO_ST24:
-				msg.rssi |= (3 << 4);
-				break;
+				case RC_INPUT_SOURCE_PX4IO_PPM:
+					msg.rssi |= (0 << 4);
+					break;
+				case RC_INPUT_SOURCE_PX4IO_SPEKTRUM:
+					msg.rssi |= (1 << 4);
+					break;
+				case RC_INPUT_SOURCE_PX4IO_SBUS:
+					msg.rssi |= (2 << 4);
+					break;
+				case RC_INPUT_SOURCE_PX4IO_ST24:
+					msg.rssi |= (3 << 4);
+					break;
 			}
 
 			if (rc.rc_lost) {
@@ -1762,23 +1866,28 @@ protected:
 class MavlinkStreamManualControl : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamManualControl::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "MANUAL_CONTROL";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_MANUAL_CONTROL;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamManualControl(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return _manual_sub->is_published() ? (MAVLINK_MSG_ID_MANUAL_CONTROL_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
 	}
 
@@ -1788,7 +1897,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamManualControl(MavlinkStreamManualControl &);
-	MavlinkStreamManualControl &operator = (const MavlinkStreamManualControl &);
+	MavlinkStreamManualControl& operator = (const MavlinkStreamManualControl &);
 
 protected:
 	explicit MavlinkStreamManualControl(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -1796,7 +1905,8 @@ protected:
 		_manual_time(0)
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct manual_control_setpoint_s manual;
 
 		if (_manual_sub->update(&_manual_time, &manual)) {
@@ -1817,23 +1927,28 @@ protected:
 class MavlinkStreamOpticalFlowRad : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamOpticalFlowRad::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "OPTICAL_FLOW_RAD";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_OPTICAL_FLOW_RAD;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamOpticalFlowRad(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return _flow_sub->is_published() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
 	}
 
@@ -1843,7 +1958,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamOpticalFlowRad(MavlinkStreamOpticalFlowRad &);
-	MavlinkStreamOpticalFlowRad &operator = (const MavlinkStreamOpticalFlowRad &);
+	MavlinkStreamOpticalFlowRad& operator = (const MavlinkStreamOpticalFlowRad &);
 
 protected:
 	explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -1851,7 +1966,8 @@ protected:
 		_flow_time(0)
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct optical_flow_s flow;
 
 		if (_flow_sub->update(&_flow_time, &flow)) {
@@ -1879,23 +1995,28 @@ protected:
 class MavlinkStreamAttitudeControls : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamAttitudeControls::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "ATTITUDE_CONTROLS";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return 0;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamAttitudeControls(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return 4 * (MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
 	}
 
@@ -1905,7 +2026,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamAttitudeControls(MavlinkStreamAttitudeControls &);
-	MavlinkStreamAttitudeControls &operator = (const MavlinkStreamAttitudeControls &);
+	MavlinkStreamAttitudeControls& operator = (const MavlinkStreamAttitudeControls &);
 
 protected:
 	explicit MavlinkStreamAttitudeControls(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -1913,7 +2034,8 @@ protected:
 		_att_ctrl_time(0)
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct actuator_controls_s att_ctrl;
 
 		if (_att_ctrl_sub->update(&_att_ctrl_time, &att_ctrl)) {
@@ -1949,23 +2071,28 @@ protected:
 class MavlinkStreamNamedValueFloat : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamNamedValueFloat::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "NAMED_VALUE_FLOAT";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_NAMED_VALUE_FLOAT;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamNamedValueFloat(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
@@ -1975,7 +2102,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamNamedValueFloat(MavlinkStreamNamedValueFloat &);
-	MavlinkStreamNamedValueFloat &operator = (const MavlinkStreamNamedValueFloat &);
+	MavlinkStreamNamedValueFloat& operator = (const MavlinkStreamNamedValueFloat &);
 
 protected:
 	explicit MavlinkStreamNamedValueFloat(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -1983,7 +2110,8 @@ protected:
 		_debug_time(0)
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct debug_key_value_s debug;
 
 		if (_debug_sub->update(&_debug_time, &debug)) {
@@ -2004,23 +2132,28 @@ protected:
 class MavlinkStreamCameraCapture : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamCameraCapture::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "CAMERA_CAPTURE";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return 0;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamCameraCapture(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return MAVLINK_MSG_ID_COMMAND_LONG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
@@ -2029,14 +2162,15 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamCameraCapture(MavlinkStreamCameraCapture &);
-	MavlinkStreamCameraCapture &operator = (const MavlinkStreamCameraCapture &);
+	MavlinkStreamCameraCapture& operator = (const MavlinkStreamCameraCapture &);
 
 protected:
 	explicit MavlinkStreamCameraCapture(Mavlink *mavlink) : MavlinkStream(mavlink),
 		_status_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_status)))
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct vehicle_status_s status;
 		(void)_status_sub->update(&status);
 
@@ -2063,23 +2197,28 @@ protected:
 class MavlinkStreamDistanceSensor : public MavlinkStream
 {
 public:
-	const char *get_name() const {
+	const char *get_name() const
+	{
 		return MavlinkStreamDistanceSensor::get_name_static();
 	}
 
-	static const char *get_name_static() {
+	static const char *get_name_static()
+	{
 		return "DISTANCE_SENSOR";
 	}
 
-	uint8_t get_id() {
+	uint8_t get_id()
+	{
 		return MAVLINK_MSG_ID_DISTANCE_SENSOR;
 	}
 
-	static MavlinkStream *new_instance(Mavlink *mavlink) {
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
 		return new MavlinkStreamDistanceSensor(mavlink);
 	}
 
-	unsigned get_size() {
+	unsigned get_size()
+	{
 		return _range_sub->is_published() ? (MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
 	}
 
@@ -2089,7 +2228,7 @@ private:
 
 	/* do not allow top copying this class */
 	MavlinkStreamDistanceSensor(MavlinkStreamDistanceSensor &);
-	MavlinkStreamDistanceSensor &operator = (const MavlinkStreamDistanceSensor &);
+	MavlinkStreamDistanceSensor& operator = (const MavlinkStreamDistanceSensor &);
 
 protected:
 	explicit MavlinkStreamDistanceSensor(Mavlink *mavlink) : MavlinkStream(mavlink),
@@ -2097,7 +2236,8 @@ protected:
 		_range_time(0)
 	{}
 
-	void send(const hrt_abstime t) {
+	void send(const hrt_abstime t)
+	{
 		struct range_finder_report range;
 
 		if (_range_sub->update(&_range_time, &range)) {