AUTOMATED code-style fix on topics. NO MANUAL OR SEMANTIC EDITS

24 files changed, 148 insertions, 173 deletions

diff --git a/src/modules/uORB/topics/esc_status.h b/src/modules/uORB/topics/esc_status.h
index 11332d7a7..628824efa 100644
--- a/src/modules/uORB/topics/esc_status.h
+++ b/src/modules/uORB/topics/esc_status.h
@@ -60,7 +60,7 @@
 enum ESC_VENDOR {
 	ESC_VENDOR_GENERIC = 0,					/**< generic ESC */
 	ESC_VENDOR_MIKROKOPTER,					/**< Mikrokopter */
-	ESC_VENDOR_GRAUPNER_HOTT				/**< Graupner HoTT ESC */	
+	ESC_VENDOR_GRAUPNER_HOTT				/**< Graupner HoTT ESC */
 };
 
 enum ESC_CONNECTION_TYPE {
@@ -79,16 +79,15 @@ enum ESC_CONNECTION_TYPE {
 /**
  * Electronic speed controller status.
  */
-struct esc_status_s
-{
+struct esc_status_s {
 	/* use of a counter and timestamp recommended (but not necessary) */
 
 	uint16_t counter;   		/**< incremented by the writing thread everytime new data is stored */
 	uint64_t timestamp; 		/**< in microseconds since system start, is set whenever the writing thread stores new data */
-	
+
 	uint8_t esc_count;			/**< number of connected ESCs */
 	enum ESC_CONNECTION_TYPE esc_connectiontype;	/**< how ESCs connected to the system */
-	
+
 	struct {
 		uint16_t esc_address;			/**< Address of current ESC (in most cases 1-8 / must be set by driver) */
 		enum ESC_VENDOR esc_vendor;		/**< Vendor of current ESC */
diff --git a/src/modules/uORB/topics/filtered_bottom_flow.h b/src/modules/uORB/topics/filtered_bottom_flow.h
index ab6de2613..c5d545542 100644
--- a/src/modules/uORB/topics/filtered_bottom_flow.h
+++ b/src/modules/uORB/topics/filtered_bottom_flow.h
@@ -53,8 +53,7 @@
 /**
  * Filtered bottom flow in bodyframe.
  */
-struct filtered_bottom_flow_s
-{
+struct filtered_bottom_flow_s {
 	uint64_t timestamp;		/**< time of this estimate, in microseconds since system start */
 
 	float sumx;				/**< Integrated bodyframe x flow in meters					   */
diff --git a/src/modules/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h
index 7e1b82a0f..09f5140b3 100644
--- a/src/modules/uORB/topics/home_position.h
+++ b/src/modules/uORB/topics/home_position.h
@@ -53,11 +53,10 @@
 /**
  * GPS home position in WGS84 coordinates.
  */
-struct home_position_s
-{
+struct home_position_s {
 	uint64_t timestamp;             /**< Timestamp (microseconds since system boot)   */
 	uint64_t time_gps_usec;         /**< Timestamp (microseconds in GPS format), this is the timestamp from the gps module   */
-	
+
 	int32_t lat;                    /**< Latitude in 1E7 degrees */
 	int32_t lon;                    /**< Longitude in 1E7 degrees */
 	int32_t alt;                    /**< Altitude in 1E3 meters (millimeters) above MSL */
diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h
index 978a3383a..04cbf73e1 100644
--- a/src/modules/uORB/topics/mission.h
+++ b/src/modules/uORB/topics/mission.h
@@ -67,8 +67,7 @@ enum NAV_CMD {
  * This is the position the MAV is heading towards. If it of type loiter,
  * the MAV is circling around it with the given loiter radius in meters.
  */
-struct mission_item_s
-{
+struct mission_item_s {
 	bool altitude_is_relative;	/**< true if altitude is relative from start point	*/
 	double lat;			/**< latitude in degrees * 1E7				*/
 	double lon;			/**< longitude in degrees * 1E7				*/
@@ -83,8 +82,7 @@ struct mission_item_s
 	float param4;
 };
 
-struct mission_s
-{
+struct mission_s {
 	struct mission_item_s *items;
 	unsigned count;
 };
diff --git a/src/modules/uORB/topics/navigation_capabilities.h b/src/modules/uORB/topics/navigation_capabilities.h
index 6a3e811e3..3a367b8cf 100644
--- a/src/modules/uORB/topics/navigation_capabilities.h
+++ b/src/modules/uORB/topics/navigation_capabilities.h
@@ -52,7 +52,7 @@
  * Airspeed
  */
 struct navigation_capabilities_s {
-    float turn_distance;    /**< the optimal distance to a waypoint to switch to the next */
+	float turn_distance;    /**< the optimal distance to a waypoint to switch to the next */
 };
 
 /**
diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h
index 7901b930a..68d3e494b 100644
--- a/src/modules/uORB/topics/offboard_control_setpoint.h
+++ b/src/modules/uORB/topics/offboard_control_setpoint.h
@@ -45,12 +45,11 @@
 
 /**
  * Off-board control inputs.
- * 
+ *
  * Typically sent by a ground control station / joystick or by
  * some off-board controller via C or SIMULINK.
  */
-enum OFFBOARD_CONTROL_MODE
-{
+enum OFFBOARD_CONTROL_MODE {
 	OFFBOARD_CONTROL_MODE_DIRECT = 0,
 	OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1,
 	OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2,
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index 086b2ef15..6eb20efd1 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -52,29 +52,28 @@
  */
 #define RC_CHANNELS_MAPPED_MAX   15
 
-/** 
+/**
  * This defines the mapping of the RC functions.
  * The value assigned to the specific function corresponds to the entry of
  * the channel array chan[].
  */
-enum RC_CHANNELS_FUNCTION
-{
-  THROTTLE = 0,
-  ROLL     = 1,
-  PITCH    = 2,
-  YAW      = 3,
-  MODE = 4,
-  RETURN = 5,
-  ASSISTED = 6,
-  MISSION = 7,
-  OFFBOARD_MODE = 8,
-  FLAPS   = 9,
-  AUX_1   = 10,
-  AUX_2   = 11,
-  AUX_3   = 12,
-  AUX_4   = 13,
-  AUX_5   = 14,
-  RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
+enum RC_CHANNELS_FUNCTION {
+	THROTTLE = 0,
+	ROLL     = 1,
+	PITCH    = 2,
+	YAW      = 3,
+	MODE = 4,
+	RETURN = 5,
+	ASSISTED = 6,
+	MISSION = 7,
+	OFFBOARD_MODE = 8,
+	FLAPS   = 9,
+	AUX_1   = 10,
+	AUX_2   = 11,
+	AUX_3   = 12,
+	AUX_4   = 13,
+	AUX_5   = 14,
+	RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
 };
 
 /**
@@ -85,16 +84,16 @@ enum RC_CHANNELS_FUNCTION
 struct rc_channels_s {
 
 	uint64_t timestamp;                 /**< In microseconds since boot time. */
-  uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
-  struct {
-    float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
-  } chan[RC_CHANNELS_MAPPED_MAX];
-  uint8_t chan_count;                 /**< number of valid channels */
+	uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
+	struct {
+		float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
+	} chan[RC_CHANNELS_MAPPED_MAX];
+	uint8_t chan_count;                 /**< number of valid channels */
 
-  /*String array to store the names of the functions*/
-  char function_name[RC_CHANNELS_FUNCTION_MAX][20];
-  int8_t function[RC_CHANNELS_FUNCTION_MAX];
-  uint8_t rssi;                       /**< Overall receive signal strength */
+	/*String array to store the names of the functions*/
+	char function_name[RC_CHANNELS_FUNCTION_MAX][20];
+	int8_t function[RC_CHANNELS_FUNCTION_MAX];
+	uint8_t rssi;                       /**< Overall receive signal strength */
 }; /**< radio control channels. */
 
 /**
diff --git a/src/modules/uORB/topics/subsystem_info.h b/src/modules/uORB/topics/subsystem_info.h
index cfe0bf69e..d3a7ce10d 100644
--- a/src/modules/uORB/topics/subsystem_info.h
+++ b/src/modules/uORB/topics/subsystem_info.h
@@ -50,8 +50,7 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-enum SUBSYSTEM_TYPE
-{
+enum SUBSYSTEM_TYPE {
 	SUBSYSTEM_TYPE_GYRO = 1,
 	SUBSYSTEM_TYPE_ACC = 2,
 	SUBSYSTEM_TYPE_MAG = 4,
diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h
index 828fb31cc..c181ec04f 100644
--- a/src/modules/uORB/topics/telemetry_status.h
+++ b/src/modules/uORB/topics/telemetry_status.h
@@ -44,10 +44,10 @@
 #include "../uORB.h"
 
 enum TELEMETRY_STATUS_RADIO_TYPE {
-    TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0,
-    TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO,
-    TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET,
-    TELEMETRY_STATUS_RADIO_TYPE_WIRE
+	TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0,
+	TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO,
+	TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET,
+	TELEMETRY_STATUS_RADIO_TYPE_WIRE
 };
 
 /**
@@ -57,14 +57,14 @@ enum TELEMETRY_STATUS_RADIO_TYPE {
 
 struct telemetry_status_s {
 	uint64_t timestamp;
-    enum TELEMETRY_STATUS_RADIO_TYPE type;  /**< type of the radio hardware     */
+	enum TELEMETRY_STATUS_RADIO_TYPE type;  /**< type of the radio hardware     */
 	unsigned rssi;              /**< local signal strength                      */
-    unsigned remote_rssi;       /**< remote signal strength                     */
-    unsigned rxerrors;          /**< receive errors                             */
-    unsigned fixed;             /**< count of error corrected packets           */
-    uint8_t noise;              /**< background noise level                     */
-    uint8_t remote_noise;       /**< remote background noise level              */
-    uint8_t txbuf;              /**< how full the tx buffer is as a percentage  */
+	unsigned remote_rssi;       /**< remote signal strength                     */
+	unsigned rxerrors;          /**< receive errors                             */
+	unsigned fixed;             /**< count of error corrected packets           */
+	uint8_t noise;              /**< background noise level                     */
+	uint8_t remote_noise;       /**< remote background noise level              */
+	uint8_t txbuf;              /**< how full the tx buffer is as a percentage  */
 };
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h
index 1a245132a..fda3cd75e 100644
--- a/src/modules/uORB/topics/vehicle_attitude_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_attitude_setpoint.h
@@ -52,8 +52,7 @@
 /**
  * vehicle attitude setpoint.
  */
-struct vehicle_attitude_setpoint_s
-{
+struct vehicle_attitude_setpoint_s {
 	uint64_t timestamp;		/**< in microseconds since system start, is set whenever the writing thread stores new data */
 
 	float roll_body;				/**< body angle in NED frame		*/
diff --git a/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h b/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h
index fbfab09f3..fd1ade671 100644
--- a/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h
@@ -48,8 +48,7 @@
  * @{
  */
 
-struct vehicle_bodyframe_speed_setpoint_s
-{
+struct vehicle_bodyframe_speed_setpoint_s {
 	uint64_t timestamp;		/**< in microseconds since system start, is set whenever the writing thread stores new data */
 
 	float vx;		/**< in m/s				  		*/
diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h
index e6e4743c6..c21a29b13 100644
--- a/src/modules/uORB/topics/vehicle_command.h
+++ b/src/modules/uORB/topics/vehicle_command.h
@@ -51,43 +51,42 @@
  * Should contain all commands from MAVLink's VEHICLE_CMD ENUM,
  * but can contain additional ones.
  */
-enum VEHICLE_CMD
-{
-	VEHICLE_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
-	VEHICLE_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
-	VEHICLE_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
-	VEHICLE_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_DO_SET_PARAMETER=180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
-	VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
-	VEHICLE_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
-	VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
-	VEHICLE_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
-	VEHICLE_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
-	VEHICLE_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
-	VEHICLE_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|  */
-	VEHICLE_CMD_ENUM_END=501, /*  | */
+enum VEHICLE_CMD {
+	VEHICLE_CMD_NAV_WAYPOINT = 16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_UNLIM = 17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_TURNS = 18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_TIME = 19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_NAV_LAND = 21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_TAKEOFF = 22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_ROI = 80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
+	VEHICLE_CMD_NAV_PATHPLANNING = 81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
+	VEHICLE_CMD_NAV_LAST = 95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_DELAY = 112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_CHANGE_ALT = 113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
+	VEHICLE_CMD_CONDITION_DISTANCE = 114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_YAW = 115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_LAST = 159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_MODE = 176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_JUMP = 177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_CHANGE_SPEED = 178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_HOME = 179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_DO_SET_PARAMETER = 180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_RELAY = 181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_REPEAT_RELAY = 182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_SERVO = 183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_REPEAT_SERVO = 184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_CONTROL_VIDEO = 200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_LAST = 240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
+	VEHICLE_CMD_PREFLIGHT_STORAGE = 245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
+	VEHICLE_CMD_OVERRIDE_GOTO = 252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
+	VEHICLE_CMD_MISSION_START = 300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
+	VEHICLE_CMD_COMPONENT_ARM_DISARM = 400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
+	VEHICLE_CMD_START_RX_PAIR = 500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|  */
+	VEHICLE_CMD_ENUM_END = 501, /*  | */
 };
 
 /**
@@ -96,14 +95,13 @@ enum VEHICLE_CMD
  * Should contain all of MAVLink's VEHICLE_CMD_RESULT values
  * but can contain additional ones.
  */
-enum VEHICLE_CMD_RESULT
-{
-	VEHICLE_CMD_RESULT_ACCEPTED=0, /* Command ACCEPTED and EXECUTED | */
-	VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED=1, /* Command TEMPORARY REJECTED/DENIED | */
-	VEHICLE_CMD_RESULT_DENIED=2, /* Command PERMANENTLY DENIED | */
-	VEHICLE_CMD_RESULT_UNSUPPORTED=3, /* Command UNKNOWN/UNSUPPORTED | */
-	VEHICLE_CMD_RESULT_FAILED=4, /* Command executed, but failed | */
-	VEHICLE_CMD_RESULT_ENUM_END=5, /*  | */
+enum VEHICLE_CMD_RESULT {
+	VEHICLE_CMD_RESULT_ACCEPTED = 0, /* Command ACCEPTED and EXECUTED | */
+	VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1, /* Command TEMPORARY REJECTED/DENIED | */
+	VEHICLE_CMD_RESULT_DENIED = 2, /* Command PERMANENTLY DENIED | */
+	VEHICLE_CMD_RESULT_UNSUPPORTED = 3, /* Command UNKNOWN/UNSUPPORTED | */
+	VEHICLE_CMD_RESULT_FAILED = 4, /* Command executed, but failed | */
+	VEHICLE_CMD_RESULT_ENUM_END = 5, /*  | */
 };
 
 /**
@@ -111,8 +109,7 @@ enum VEHICLE_CMD_RESULT
  * @{
  */
 
-struct vehicle_command_s
-{
+struct vehicle_command_s {
 	float param1;			/**< Parameter 1, as defined by MAVLink VEHICLE_CMD enum.   */
 	float param2;			/**< Parameter 2, as defined by MAVLink VEHICLE_CMD enum.   */
 	float param3;			/**< Parameter 3, as defined by MAVLink VEHICLE_CMD enum.   */
diff --git a/src/modules/uORB/topics/vehicle_control_debug.h b/src/modules/uORB/topics/vehicle_control_debug.h
index 6184284a4..2a45eaccc 100644
--- a/src/modules/uORB/topics/vehicle_control_debug.h
+++ b/src/modules/uORB/topics/vehicle_control_debug.h
@@ -47,8 +47,7 @@
  * @addtogroup topics
  * @{
  */
-struct vehicle_control_debug_s
-{
+struct vehicle_control_debug_s {
 	uint64_t timestamp; /**< in microseconds since system start */
 
 	float roll_p;		/**< roll P control part		*/
@@ -77,9 +76,9 @@ struct vehicle_control_debug_s
 
 }; /**< vehicle_control_debug */
 
- /**
- * @}
- */
+/**
+* @}
+*/
 
 /* register this as object request broker structure */
 ORB_DECLARE(vehicle_control_debug);
diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h
index 38fb74c9b..4c31f92b5 100644
--- a/src/modules/uORB/topics/vehicle_control_mode.h
+++ b/src/modules/uORB/topics/vehicle_control_mode.h
@@ -38,7 +38,7 @@
 /**
  * @file vehicle_control_mode.h
  * Definition of the vehicle_control_mode uORB topic.
- * 
+ *
  * All control apps should depend their actions based on the flags set here.
  */
 
@@ -59,8 +59,7 @@
  *
  * Encodes the complete system state and is set by the commander app.
  */
-struct vehicle_control_mode_s
-{
+struct vehicle_control_mode_s {
 	uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
 
 	bool flag_armed;
diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h
index 143734e37..4376fa1ba 100644
--- a/src/modules/uORB/topics/vehicle_global_position.h
+++ b/src/modules/uORB/topics/vehicle_global_position.h
@@ -51,16 +51,15 @@
  * @{
  */
 
- /**
- * Fused global position in WGS84.
- *
- * This struct contains the system's believ about its position. It is not the raw GPS
- * measurement (@see vehicle_gps_position). This topic is usually published by the position
- * estimator, which will take more sources of information into account than just GPS,
- * e.g. control inputs of the vehicle in a Kalman-filter implementation.
- */
-struct vehicle_global_position_s
-{
+/**
+* Fused global position in WGS84.
+*
+* This struct contains the system's believ about its position. It is not the raw GPS
+* measurement (@see vehicle_gps_position). This topic is usually published by the position
+* estimator, which will take more sources of information into account than just GPS,
+* e.g. control inputs of the vehicle in a Kalman-filter implementation.
+*/
+struct vehicle_global_position_s {
 	uint64_t timestamp;		/**< time of this estimate, in microseconds since system start */
 	uint64_t time_gps_usec; 	/**< GPS timestamp in microseconds							   */
 	bool valid;			/**< true if position satisfies validity criteria of estimator */
diff --git a/src/modules/uORB/topics/vehicle_global_position_set_triplet.h b/src/modules/uORB/topics/vehicle_global_position_set_triplet.h
index 8516b263f..e8565d887 100644
--- a/src/modules/uORB/topics/vehicle_global_position_set_triplet.h
+++ b/src/modules/uORB/topics/vehicle_global_position_set_triplet.h
@@ -58,8 +58,7 @@
  *
  * This are the three next waypoints (or just the next two or one).
  */
-struct vehicle_global_position_set_triplet_s
-{
+struct vehicle_global_position_set_triplet_s {
 	bool previous_valid;					/**< flag indicating previous position is valid */
 	bool next_valid;					/**< flag indicating next position is valid */
 
diff --git a/src/modules/uORB/topics/vehicle_global_position_setpoint.h b/src/modules/uORB/topics/vehicle_global_position_setpoint.h
index a56434d3b..8102e367d 100644
--- a/src/modules/uORB/topics/vehicle_global_position_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_global_position_setpoint.h
@@ -58,8 +58,7 @@
  * This is the position the MAV is heading towards. If it of type loiter,
  * the MAV is circling around it with the given loiter radius in meters.
  */
-struct vehicle_global_position_setpoint_s
-{
+struct vehicle_global_position_setpoint_s {
 	bool altitude_is_relative;	/**< true if altitude is relative from start point	*/
 	int32_t lat;			/**< latitude in degrees * 1E7				*/
 	int32_t lon;			/**< longitude in degrees * 1E7				*/
diff --git a/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h b/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h
index 73961cdfe..5dac877d0 100644
--- a/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h
@@ -47,8 +47,7 @@
  * @{
  */
 
-struct vehicle_global_velocity_setpoint_s
-{
+struct vehicle_global_velocity_setpoint_s {
 	float vx;		/**< in m/s NED			  		*/
 	float vy;		/**< in m/s NED			  		*/
 	float vz;		/**< in m/s NED			  		*/
diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h
index 1639a08c2..794c3f8bc 100644
--- a/src/modules/uORB/topics/vehicle_gps_position.h
+++ b/src/modules/uORB/topics/vehicle_gps_position.h
@@ -53,13 +53,12 @@
 /**
  * GPS position in WGS84 coordinates.
  */
-struct vehicle_gps_position_s
-{
+struct vehicle_gps_position_s {
 	uint64_t timestamp_position;			/**< Timestamp for position information */
 	int32_t lat;					/**< Latitude in 1E-7 degrees */
 	int32_t lon;					/**< Longitude in 1E-7 degrees */
 	int32_t alt;					/**< Altitude in 1E-3 meters (millimeters) above MSL  */
-	
+
 	uint64_t timestamp_variance;
 	float s_variance_m_s;				/**< speed accuracy estimate m/s */
 	float p_variance_m;				/**< position accuracy estimate m */
diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h
index 427153782..44c339711 100644
--- a/src/modules/uORB/topics/vehicle_local_position.h
+++ b/src/modules/uORB/topics/vehicle_local_position.h
@@ -52,8 +52,7 @@
 /**
  * Fused local position in NED.
  */
-struct vehicle_local_position_s
-{
+struct vehicle_local_position_s {
 	uint64_t timestamp;		/**< Time of this estimate, in microseconds since system start */
 	bool xy_valid;			/**< true if x and y are valid */
 	bool z_valid;			/**< true if z is valid */
diff --git a/src/modules/uORB/topics/vehicle_local_position_setpoint.h b/src/modules/uORB/topics/vehicle_local_position_setpoint.h
index d24d81e3a..8988a0330 100644
--- a/src/modules/uORB/topics/vehicle_local_position_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_local_position_setpoint.h
@@ -49,8 +49,7 @@
  * @{
  */
 
-struct vehicle_local_position_setpoint_s
-{
+struct vehicle_local_position_setpoint_s {
 	float x;		/**< in meters NED			  		*/
 	float y;		/**< in meters NED			  		*/
 	float z;		/**< in meters NED			  		*/
diff --git a/src/modules/uORB/topics/vehicle_rates_setpoint.h b/src/modules/uORB/topics/vehicle_rates_setpoint.h
index 46e62c4b7..9f8b412a7 100644
--- a/src/modules/uORB/topics/vehicle_rates_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_rates_setpoint.h
@@ -47,8 +47,7 @@
  * @addtogroup topics
  * @{
  */
-struct vehicle_rates_setpoint_s
-{
+struct vehicle_rates_setpoint_s {
 	uint64_t timestamp; /**< in microseconds since system start */
 
 	float roll;	/**< body angular rates in NED frame		*/
@@ -58,9 +57,9 @@ struct vehicle_rates_setpoint_s
 
 }; /**< vehicle_rates_setpoint */
 
- /**
- * @}
- */
+/**
+* @}
+*/
 
 /* register this as object request broker structure */
 ORB_DECLARE(vehicle_rates_setpoint);
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index 1c184d3a7..7ac1a6660 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -131,31 +131,31 @@ enum VEHICLE_MODE_FLAG {
  * Should match 1:1 MAVLink's MAV_TYPE ENUM
  */
 enum VEHICLE_TYPE {
-	VEHICLE_TYPE_GENERIC=0, /* Generic micro air vehicle. | */
-	VEHICLE_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */
-	VEHICLE_TYPE_QUADROTOR=2, /* Quadrotor | */
-	VEHICLE_TYPE_COAXIAL=3, /* Coaxial helicopter | */
-	VEHICLE_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */
-	VEHICLE_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */
-	VEHICLE_TYPE_GCS=6, /* Operator control unit / ground control station | */
-	VEHICLE_TYPE_AIRSHIP=7, /* Airship, controlled | */
-	VEHICLE_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */
-	VEHICLE_TYPE_ROCKET=9, /* Rocket | */
-	VEHICLE_TYPE_GROUND_ROVER=10, /* Ground rover | */
-	VEHICLE_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */
-	VEHICLE_TYPE_SUBMARINE=12, /* Submarine | */
-	VEHICLE_TYPE_HEXAROTOR=13, /* Hexarotor | */
-	VEHICLE_TYPE_OCTOROTOR=14, /* Octorotor | */
-	VEHICLE_TYPE_TRICOPTER=15, /* Octorotor | */
-	VEHICLE_TYPE_FLAPPING_WING=16, /* Flapping wing | */
-	VEHICLE_TYPE_KITE=17, /* Kite | */
-	VEHICLE_TYPE_ENUM_END=18, /*  | */
+	VEHICLE_TYPE_GENERIC = 0, /* Generic micro air vehicle. | */
+	VEHICLE_TYPE_FIXED_WING = 1, /* Fixed wing aircraft. | */
+	VEHICLE_TYPE_QUADROTOR = 2, /* Quadrotor | */
+	VEHICLE_TYPE_COAXIAL = 3, /* Coaxial helicopter | */
+	VEHICLE_TYPE_HELICOPTER = 4, /* Normal helicopter with tail rotor. | */
+	VEHICLE_TYPE_ANTENNA_TRACKER = 5, /* Ground installation | */
+	VEHICLE_TYPE_GCS = 6, /* Operator control unit / ground control station | */
+	VEHICLE_TYPE_AIRSHIP = 7, /* Airship, controlled | */
+	VEHICLE_TYPE_FREE_BALLOON = 8, /* Free balloon, uncontrolled | */
+	VEHICLE_TYPE_ROCKET = 9, /* Rocket | */
+	VEHICLE_TYPE_GROUND_ROVER = 10, /* Ground rover | */
+	VEHICLE_TYPE_SURFACE_BOAT = 11, /* Surface vessel, boat, ship | */
+	VEHICLE_TYPE_SUBMARINE = 12, /* Submarine | */
+	VEHICLE_TYPE_HEXAROTOR = 13, /* Hexarotor | */
+	VEHICLE_TYPE_OCTOROTOR = 14, /* Octorotor | */
+	VEHICLE_TYPE_TRICOPTER = 15, /* Octorotor | */
+	VEHICLE_TYPE_FLAPPING_WING = 16, /* Flapping wing | */
+	VEHICLE_TYPE_KITE = 17, /* Kite | */
+	VEHICLE_TYPE_ENUM_END = 18, /*  | */
 };
 
 enum VEHICLE_BATTERY_WARNING {
-    VEHICLE_BATTERY_WARNING_NONE = 0,	/**< no battery low voltage warning active */
-    VEHICLE_BATTERY_WARNING_LOW,	/**< warning of low voltage */
-    VEHICLE_BATTERY_WARNING_CRITICAL	/**< alerting of critical voltage */
+	VEHICLE_BATTERY_WARNING_NONE = 0,	/**< no battery low voltage warning active */
+	VEHICLE_BATTERY_WARNING_LOW,	/**< warning of low voltage */
+	VEHICLE_BATTERY_WARNING_CRITICAL	/**< alerting of critical voltage */
 };
 
 /**
@@ -168,8 +168,7 @@ enum VEHICLE_BATTERY_WARNING {
  *
  * Encodes the complete system state and is set by the commander app.
  */
-struct vehicle_status_s
-{
+struct vehicle_status_s {
 	/* use of a counter and timestamp recommended (but not necessary) */
 
 	uint16_t counter;   /**< incremented by the writing thread everytime new data is stored */
@@ -216,7 +215,7 @@ struct vehicle_status_s
 	uint32_t onboard_control_sensors_present;
 	uint32_t onboard_control_sensors_enabled;
 	uint32_t onboard_control_sensors_health;
-	
+
 	float load;					/**< processor load from 0 to 1 */
 	float battery_voltage;
 	float battery_current;
diff --git a/src/modules/uORB/topics/vehicle_vicon_position.h b/src/modules/uORB/topics/vehicle_vicon_position.h
index 0822fa89a..e19a34a5d 100644
--- a/src/modules/uORB/topics/vehicle_vicon_position.h
+++ b/src/modules/uORB/topics/vehicle_vicon_position.h
@@ -52,8 +52,7 @@
 /**
  * Fused local position in NED.
  */
-struct vehicle_vicon_position_s
-{
+struct vehicle_vicon_position_s {
 	uint64_t timestamp;			/**< time of this estimate, in microseconds since system start */
 	bool valid;				/**< true if position satisfies validity criteria of estimator */