navigator: spaces/tabs fixed, old commented code removed

1 files changed, 36 insertions, 36 deletions

diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index a2eec8589..c5bb06c3b 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -79,7 +79,7 @@ RTL::on_inactive()
 
 	/* reset RTL state only if setpoint moved */
 	if (!_navigator->get_can_loiter_at_sp()) {
-	    _rtl_state = RTL_STATE_NONE;
+		_rtl_state = RTL_STATE_NONE;
 	}
 }
 
@@ -89,28 +89,28 @@ RTL::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
 	bool updated = false;
 
 	if (_first_run) {
-        _first_run = false;
-
-	    /* decide where to enter the RTL procedure when we switch into it */
-	    if (_rtl_state == RTL_STATE_NONE) {
-	        /* for safety reasons don't go into RTL if landed */
-	        if (_navigator->get_vstatus()->condition_landed) {
-	            _rtl_state = RTL_STATE_FINISHED;
-	            mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
-
-	        /* if lower than return altitude, climb up first */
-	        } else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
-	               + _param_return_alt.get()) {
-	            _rtl_state = RTL_STATE_CLIMB;
-
-	        /* otherwise go straight to return */
-	        } else {
-	            /* set altitude setpoint to current altitude */
-	            _rtl_state = RTL_STATE_RETURN;
-	            _mission_item.altitude_is_relative = false;
-	            _mission_item.altitude = _navigator->get_global_position()->alt;
-	        }
-	    }
+		_first_run = false;
+
+		/* decide where to enter the RTL procedure when we switch into it */
+		if (_rtl_state == RTL_STATE_NONE) {
+			/* for safety reasons don't go into RTL if landed */
+			if (_navigator->get_vstatus()->condition_landed) {
+				_rtl_state = RTL_STATE_FINISHED;
+				mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
+
+			/* if lower than return altitude, climb up first */
+			} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
+				   + _param_return_alt.get()) {
+				_rtl_state = RTL_STATE_CLIMB;
+
+			/* otherwise go straight to return */
+			} else {
+				/* set altitude setpoint to current altitude */
+				_rtl_state = RTL_STATE_RETURN;
+				_mission_item.altitude_is_relative = false;
+				_mission_item.altitude = _navigator->get_global_position()->alt;
+			}
+		}
 
 		set_rtl_item(pos_sp_triplet);
 
@@ -132,15 +132,15 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
 	/* make sure we have the latest params */
 	updateParams();
 
-    if (_rtl_state == RTL_STATE_FINISHED) {
-        /* RTL finished, nothing to do */
-        pos_sp_triplet->next.valid = false;
-        mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: completed");
-        return;
-    }
+	if (_rtl_state == RTL_STATE_FINISHED) {
+		/* RTL finished, nothing to do */
+		pos_sp_triplet->next.valid = false;
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: completed");
+		return;
+	}
 
-    set_previous_pos_setpoint(pos_sp_triplet);
-    _navigator->set_can_loiter_at_sp(false);
+	set_previous_pos_setpoint(pos_sp_triplet);
+	_navigator->set_can_loiter_at_sp(false);
 
 	switch (_rtl_state) {
 	case RTL_STATE_CLIMB: {
@@ -241,11 +241,11 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
 		break;
 	}
 
-    /* convert mission item to current position setpoint and make it valid */
-    mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
-    reset_mission_item_reached();
-    pos_sp_triplet->current.valid = true;
-    pos_sp_triplet->next.valid = false;
+	/* convert mission item to current position setpoint and make it valid */
+	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
+	reset_mission_item_reached();
+	pos_sp_triplet->current.valid = true;
+	pos_sp_triplet->next.valid = false;
 }
 
 void