trivial code style cleanup round 2

33 files changed, 77 insertions, 65 deletions

diff --git a/src/modules/commander/calibration_routines.cpp b/src/modules/commander/calibration_routines.cpp
index 5796204bf..290e83a0b 100644
--- a/src/modules/commander/calibration_routines.cpp
+++ b/src/modules/commander/calibration_routines.cpp
@@ -45,7 +45,8 @@
 
 
 int sphere_fit_least_squares(const float x[], const float y[], const float z[],
-			     unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius)
+			     unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z,
+			     float *sphere_radius)
 {
 
 	float x_sumplain = 0.0f;
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp
index 8a70cf66e..d4a6d6801 100644
--- a/src/modules/commander/gyro_calibration.cpp
+++ b/src/modules/commander/gyro_calibration.cpp
@@ -245,7 +245,7 @@ int do_gyro_calibration(int mavlink_fd)
 				mavlink_log_critical(mavlink_fd, CAL_FAILED_APPLY_CAL_MSG);
 			}
 		}
-		
+
 		if (failed) {
 			mavlink_and_console_log_critical(mavlink_fd, "ERROR: failed to set offset params");
 			res = ERROR;
@@ -376,7 +376,7 @@ int do_gyro_calibration(int mavlink_fd)
 		}
 	}
 
-	#endif
+#endif
 
 	if (res == OK) {
 		/* auto-save to EEPROM */
diff --git a/src/modules/controllib/block/BlockParam.hpp b/src/modules/controllib/block/BlockParam.hpp
index a64d0139e..437e43bfb 100644
--- a/src/modules/controllib/block/BlockParam.hpp
+++ b/src/modules/controllib/block/BlockParam.hpp
@@ -58,7 +58,7 @@ public:
 	 *
 	 * @param parent_prefix Set to true to include the parent name in the parameter name
 	 */
-	BlockParamBase(Block *parent, const char *name, bool parent_prefix=true);
+	BlockParamBase(Block *parent, const char *name, bool parent_prefix = true);
 	virtual ~BlockParamBase() {};
 	virtual void update() = 0;
 	const char *getName() { return param_name(_handle); }
@@ -75,7 +75,7 @@ class BlockParam : public BlockParamBase
 {
 public:
 	BlockParam(Block *block, const char *name,
-			bool parent_prefix=true);
+		   bool parent_prefix = true);
 	T get();
 	void set(T val);
 	void update();
diff --git a/src/modules/controllib/blocks.hpp b/src/modules/controllib/blocks.hpp
index bffc355a8..65600190b 100644
--- a/src/modules/controllib/blocks.hpp
+++ b/src/modules/controllib/blocks.hpp
@@ -114,7 +114,7 @@ public:
 // methods
 	BlockLowPass(SuperBlock *parent, const char *name) :
 		Block(parent, name),
-		_state(0.0f/0.0f /* initialize to invalid val, force into is_finite() check on first call */),
+		_state(0.0f / 0.0f /* initialize to invalid val, force into is_finite() check on first call */),
 		_fCut(this, "") // only one parameter, no need to name
 	{};
 	virtual ~BlockLowPass() {};
@@ -492,8 +492,9 @@ public:
 
 			X = V1 * float(sqrt(-2 * float(log(S)) / S));
 
-		} else
+		} else {
 			X = V2 * float(sqrt(-2 * float(log(S)) / S));
+		}
 
 		phase = 1 - phase;
 		return X * getStdDev() + getMean();
diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c
index 6ab3ddbfc..cfc5ae965 100644
--- a/src/modules/fw_att_control/fw_att_control_params.c
+++ b/src/modules/fw_att_control/fw_att_control_params.c
@@ -136,7 +136,8 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f);
  * @max 2.0
  * @group FW Attitude Control
  */
-PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f); //xxx: set to 0 as default, see comment in ECL_PitchController::control_attitude (float turn_offset = ...)
+PARAM_DEFINE_FLOAT(FW_P_ROLLFF,
+		   0.0f); //xxx: set to 0 as default, see comment in ECL_PitchController::control_attitude (float turn_offset = ...)
 
 /**
  * Roll rate proportional Gain
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
index ae6867d38..4c2db0c64 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
@@ -65,19 +65,19 @@ public:
 	 * Control in altitude setpoint and speed mode
 	 */
 	int updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed,
-			float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
+				float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
 
 	/*
 	 * Control in flightPathAngle setpoint (flollow a slope etc.) and speed mode
 	 */
 	int updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed,
-			float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
+				       float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
 
 	/*
 	 * Control in flightPathAngle setpoint (flollow a slope etc.) and acceleration mode (base case)
 	 */
 	int updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeedFiltered,
-			float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride);
+					      float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride);
 
 	/*
 	 * Reset all integrators
diff --git a/src/modules/gpio_led/gpio_led.c b/src/modules/gpio_led/gpio_led.c
index b759b429e..2ff3fc276 100644
--- a/src/modules/gpio_led/gpio_led.c
+++ b/src/modules/gpio_led/gpio_led.c
@@ -184,11 +184,13 @@ int gpio_led_main(int argc, char *argv[])
 				warnx("start, using pin: %s", pin_name);
 				exit(0);
 			}
+
 		} else if (!strcmp(argv[1], "stop")) {
 			if (gpio_led_started) {
 				gpio_led_started = false;
 				warnx("stop");
 				exit(0);
+
 			} else {
 				errx(1, "not running");
 			}
diff --git a/src/modules/land_detector/LandDetector.cpp b/src/modules/land_detector/LandDetector.cpp
index a4fbb9861..7c830fc07 100644
--- a/src/modules/land_detector/LandDetector.cpp
+++ b/src/modules/land_detector/LandDetector.cpp
@@ -46,8 +46,8 @@
 LandDetector::LandDetector() :
 	_landDetectedPub(-1),
 	_landDetected({0, false}),
-	_taskShouldExit(false),
-	_taskIsRunning(false)
+	      _taskShouldExit(false),
+	      _taskIsRunning(false)
 {
 	// ctor
 }
diff --git a/src/modules/land_detector/MulticopterLandDetector.h b/src/modules/land_detector/MulticopterLandDetector.h
index 70df91f43..8c57416b5 100644
--- a/src/modules/land_detector/MulticopterLandDetector.h
+++ b/src/modules/land_detector/MulticopterLandDetector.h
@@ -102,13 +102,13 @@ private:
 	int _actuatorsSub;
 	int _armingSub;
 	int _parameterSub;
-    int _attitudeSub;
+	int _attitudeSub;
 
 	struct vehicle_global_position_s          _vehicleGlobalPosition;   /**< the result from global position subscription */
 	struct vehicle_status_s 			      _vehicleStatus;
 	struct actuator_controls_s                _actuators;
 	struct actuator_armed_s                   _arming;
-    struct vehicle_attitude_s                 _vehicleAttitude;
+	struct vehicle_attitude_s                 _vehicleAttitude;
 
 	uint64_t _landTimer;                                                /**< timestamp in microseconds since a possible land was detected*/
 };
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index b510dbbb7..1d214b948 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -188,6 +188,6 @@ private:
 	uint64_t _time_offset;
 
 	/* do not allow copying this class */
-	MavlinkReceiver(const MavlinkReceiver&);
-	MavlinkReceiver operator=(const MavlinkReceiver&);
+	MavlinkReceiver(const MavlinkReceiver &);
+	MavlinkReceiver operator=(const MavlinkReceiver &);
 };
diff --git a/src/modules/mavlink/mavlink_stream.h b/src/modules/mavlink/mavlink_stream.h
index ef22dc443..5e39bbbdf 100644
--- a/src/modules/mavlink/mavlink_stream.h
+++ b/src/modules/mavlink/mavlink_stream.h
@@ -89,7 +89,7 @@ public:
 	virtual unsigned get_size() = 0;
 
 protected:
-	Mavlink *    _mavlink;
+	Mavlink     *_mavlink;
 	unsigned int _interval;
 
 	virtual void send(const hrt_abstime t) = 0;
@@ -98,8 +98,8 @@ private:
 	hrt_abstime _last_sent;
 
 	/* do not allow top copying this class */
-	MavlinkStream(const MavlinkStream&);
-	MavlinkStream& operator=(const MavlinkStream&);
+	MavlinkStream(const MavlinkStream &);
+	MavlinkStream &operator=(const MavlinkStream &);
 };
 
 
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control.h b/src/modules/mc_att_control_multiplatform/mc_att_control.h
index 52ba369c1..1242c7fe3 100644
--- a/src/modules/mc_att_control_multiplatform/mc_att_control.h
+++ b/src/modules/mc_att_control_multiplatform/mc_att_control.h
@@ -88,9 +88,9 @@ private:
 	bool		_task_should_exit;			/**< if true, sensor task should exit */
 	bool		_actuators_0_circuit_breaker_enabled;	/**< circuit breaker to suppress output */
 
-	px4::Publisher<px4_vehicle_attitude_setpoint> *	_att_sp_pub;			/**< attitude setpoint publication */
-	px4::Publisher<px4_vehicle_rates_setpoint> *	_v_rates_sp_pub;		/**< rate setpoint publication */
-	px4::Publisher<px4_actuator_controls_0> *	_actuators_0_pub;		/**< attitude actuator controls publication */
+	px4::Publisher<px4_vehicle_attitude_setpoint> 	*_att_sp_pub;			/**< attitude setpoint publication */
+	px4::Publisher<px4_vehicle_rates_setpoint> 	*_v_rates_sp_pub;		/**< rate setpoint publication */
+	px4::Publisher<px4_actuator_controls_0> 	*_actuators_0_pub;		/**< attitude actuator controls publication */
 
 	px4::NodeHandle _n;
 
diff --git a/src/modules/navigator/mission_block.h b/src/modules/navigator/mission_block.h
index adf50bc39..ec3e30582 100644
--- a/src/modules/navigator/mission_block.h
+++ b/src/modules/navigator/mission_block.h
@@ -83,9 +83,9 @@ protected:
 	 */
 	void mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp);
 
-    /**
-     * Set previous position setpoint to current setpoint
-     */
+	/**
+	 * Set previous position setpoint to current setpoint
+	 */
 	void set_previous_pos_setpoint();
 
 	/**
diff --git a/src/modules/navigator/mission_feasibility_checker.h b/src/modules/navigator/mission_feasibility_checker.h
index 96c9209d3..9a77a6dc2 100644
--- a/src/modules/navigator/mission_feasibility_checker.h
+++ b/src/modules/navigator/mission_feasibility_checker.h
@@ -78,7 +78,8 @@ public:
 	/*
 	 * Returns true if mission is feasible and false otherwise
 	 */
-	bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
+	bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence,
+				  float home_alt);
 
 };
 
diff --git a/src/modules/navigator/navigator_mode.cpp b/src/modules/navigator/navigator_mode.cpp
index 2f322031c..f7ccda0cb 100644
--- a/src/modules/navigator/navigator_mode.cpp
+++ b/src/modules/navigator/navigator_mode.cpp
@@ -58,7 +58,8 @@ NavigatorMode::~NavigatorMode()
 }
 
 void
-NavigatorMode::run(bool active) {
+NavigatorMode::run(bool active)
+{
 	if (active) {
 		if (_first_run) {
 			/* first run */
diff --git a/src/modules/navigator/navigator_mode.h b/src/modules/navigator/navigator_mode.h
index de5545dcb..0839d9be6 100644
--- a/src/modules/navigator/navigator_mode.h
+++ b/src/modules/navigator/navigator_mode.h
@@ -92,8 +92,8 @@ private:
 	/* this class has ptr data members, so it should not be copied,
 	 * consequently the copy constructors are private.
 	 */
-	NavigatorMode(const NavigatorMode&);
-	NavigatorMode operator=(const NavigatorMode&);
+	NavigatorMode(const NavigatorMode &);
+	NavigatorMode operator=(const NavigatorMode &);
 };
 
 #endif
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index 93a33490f..8192c5b50 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -219,7 +219,8 @@ extern int	dsm_init(const char *device);
 extern bool	dsm_input(uint16_t *values, uint16_t *num_values, uint8_t *n_bytes, uint8_t **bytes);
 extern void	dsm_bind(uint16_t cmd, int pulses);
 extern int	sbus_init(const char *device);
-extern bool	sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels);
+extern bool	sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop,
+			   uint16_t max_channels);
 extern void	sbus1_output(uint16_t *values, uint16_t num_values);
 extern void	sbus2_output(uint16_t *values, uint16_t num_values);
 
diff --git a/src/modules/systemlib/cpuload.c b/src/modules/systemlib/cpuload.c
index 7aa2f3a5f..b41896abd 100644
--- a/src/modules/systemlib/cpuload.c
+++ b/src/modules/systemlib/cpuload.c
@@ -97,7 +97,8 @@ void cpuload_initialize_once()
 		system_load.tasks[system_load.total_count].start_time = now;
 		system_load.tasks[system_load.total_count].total_runtime = 0;
 		system_load.tasks[system_load.total_count].curr_start_time = 0;
-		system_load.tasks[system_load.total_count].tcb = sched_gettcb(system_load.total_count);	// it is assumed that these static threads have consecutive PIDs
+		system_load.tasks[system_load.total_count].tcb = sched_gettcb(
+					system_load.total_count);	// it is assumed that these static threads have consecutive PIDs
 		system_load.tasks[system_load.total_count].valid = true;
 	}
 }
diff --git a/src/modules/systemlib/hx_stream.h b/src/modules/systemlib/hx_stream.h
index 1f3927222..b674f192d 100644
--- a/src/modules/systemlib/hx_stream.h
+++ b/src/modules/systemlib/hx_stream.h
@@ -103,7 +103,7 @@ __EXPORT extern void		hx_stream_reset(hx_stream_t stream);
 /**
  * Prepare to send a frame.
  *
- * Use this in conjunction with hx_stream_send_next to 
+ * Use this in conjunction with hx_stream_send_next to
  * set the frame to be transmitted.
  *
  * Use hx_stream_send() to write to the stream fd directly.
@@ -124,7 +124,7 @@ __EXPORT extern int		hx_stream_start(hx_stream_t stream,
  * calling hx_stream_start first.
  *
  * @param stream	A handle returned from hx_stream_init.
- * @return		The byte to send, or -1 if there is 
+ * @return		The byte to send, or -1 if there is
  *			nothing left to send.
  */
 __EXPORT extern int		hx_stream_send_next(hx_stream_t stream);
diff --git a/src/modules/systemlib/mcu_version.h b/src/modules/systemlib/mcu_version.h
index e951e1e39..f40ac069e 100644
--- a/src/modules/systemlib/mcu_version.h
+++ b/src/modules/systemlib/mcu_version.h
@@ -50,7 +50,7 @@ enum MCU_REV {
 /**
  * Reports the microcontroller unique id.
  *
- * This ID is guaranteed to be unique for every mcu. 
+ * This ID is guaranteed to be unique for every mcu.
  * @param uid_96_bit A uint32_t[3] array to copy the data to.
  */
 __EXPORT void mcu_unique_id(uint32_t *uid_96_bit);
@@ -62,6 +62,6 @@ __EXPORT void mcu_unique_id(uint32_t *uid_96_bit);
  * @param revstr The full chip name string
  * @return The silicon revision / version number as integer
  */
-__EXPORT int mcu_version(char* rev, char** revstr);
+__EXPORT int mcu_version(char *rev, char **revstr);
 
 __END_DECLS
diff --git a/src/modules/systemlib/mixer/mixer_group.cpp b/src/modules/systemlib/mixer/mixer_group.cpp
index 3ed99fba0..4220b168d 100644
--- a/src/modules/systemlib/mixer/mixer_group.cpp
+++ b/src/modules/systemlib/mixer/mixer_group.cpp
@@ -76,8 +76,9 @@ MixerGroup::add_mixer(Mixer *mixer)
 
 	mpp = &_first;
 
-	while (*mpp != nullptr)
+	while (*mpp != nullptr) {
 		mpp = &((*mpp)->_next);
+	}
 
 	*mpp = mixer;
 	mixer->_next = nullptr;
@@ -185,6 +186,7 @@ MixerGroup::load_from_buf(const char *buf, unsigned &buflen)
 			/* only adjust buflen if parsing was successful */
 			buflen = resid;
 			debug("SUCCESS - buflen: %d", buflen);
+
 		} else {
 
 			/*
diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.h b/src/modules/systemlib/pwm_limit/pwm_limit.h
index 6a667ac6f..6ec9f4b7e 100644
--- a/src/modules/systemlib/pwm_limit/pwm_limit.h
+++ b/src/modules/systemlib/pwm_limit/pwm_limit.h
@@ -72,7 +72,8 @@ typedef struct {
 
 __EXPORT void pwm_limit_init(pwm_limit_t *limit);
 
-__EXPORT void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, const float *output, uint16_t *effective_pwm, pwm_limit_t *limit);
+__EXPORT void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm,
+			     const uint16_t *min_pwm, const uint16_t *max_pwm, const float *output, uint16_t *effective_pwm, pwm_limit_t *limit);
 
 __END_DECLS
 
diff --git a/src/modules/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c
index 82183b0d7..280c30023 100644
--- a/src/modules/systemlib/systemlib.c
+++ b/src/modules/systemlib/systemlib.c
@@ -66,10 +66,11 @@ systemreset(bool to_bootloader)
 		/* XXX wow, this is evil - write a magic number into backup register zero */
 		*(uint32_t *)0x40002850 = 0xb007b007;
 	}
+
 	up_systemreset();
 
 	/* lock up here */
-	while(true);
+	while (true);
 }
 
 static void kill_task(FAR struct tcb_s *tcb, FAR void *arg);
@@ -87,7 +88,7 @@ static void kill_task(FAR struct tcb_s *tcb, FAR void *arg)
 	kill(tcb->pid, SIGUSR1);
 }
 
-int task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, char * const argv[])
+int task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, char *const argv[])
 {
 	int pid;
 
diff --git a/src/modules/uORB/topics/geofence_result.h b/src/modules/uORB/topics/geofence_result.h
index b07e04499..8d32dfc0a 100644
--- a/src/modules/uORB/topics/geofence_result.h
+++ b/src/modules/uORB/topics/geofence_result.h
@@ -50,8 +50,7 @@
  * @{
  */
 
-struct geofence_result_s
-{
+struct geofence_result_s {
 	bool geofence_violated;		/**< true if the geofence is violated */
 };
 
diff --git a/src/modules/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h
index d747b5f43..02e17cdd7 100644
--- a/src/modules/uORB/topics/home_position.h
+++ b/src/modules/uORB/topics/home_position.h
@@ -55,8 +55,7 @@
 /**
  * GPS home position in WGS84 coordinates.
  */
-struct home_position_s
-{
+struct home_position_s {
 	uint64_t timestamp;			/**< Timestamp (microseconds since system boot)	*/
 
 	double lat;				/**< Latitude in degrees 			*/
diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h
index 2ddc529a3..16e7f2f12 100644
--- a/src/modules/uORB/topics/mission_result.h
+++ b/src/modules/uORB/topics/mission_result.h
@@ -53,8 +53,7 @@
  * @{
  */
 
-struct mission_result_s
-{
+struct mission_result_s {
 	unsigned seq_reached;		/**< Sequence of the mission item which has been reached */
 	unsigned seq_current;		/**< Sequence of the current mission item				 */
 	bool reached;			/**< true if mission has been reached					 */
diff --git a/src/modules/uORB/topics/tecs_status.h b/src/modules/uORB/topics/tecs_status.h
index ddca19d61..3c858901c 100644
--- a/src/modules/uORB/topics/tecs_status.h
+++ b/src/modules/uORB/topics/tecs_status.h
@@ -60,9 +60,9 @@ typedef enum {
 	TECS_MODE_CLIMBOUT
 } tecs_mode;
 
- /**
- * Internal values of the (m)TECS fixed wing speed alnd altitude control system
- */
+/**
+* Internal values of the (m)TECS fixed wing speed alnd altitude control system
+*/
 struct tecs_status_s {
 	uint64_t timestamp;		/**< timestamp, in microseconds since system start */
 
diff --git a/src/modules/uORB/uORB.h b/src/modules/uORB/uORB.h
index b54f0322b..44dc6614f 100644
--- a/src/modules/uORB/uORB.h
+++ b/src/modules/uORB/uORB.h
@@ -166,7 +166,7 @@ extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *d
  * node in /obj if required and publishes the initial data.
  *
  * Any number of advertisers may publish to a topic; publications are atomic
- * but co-ordination between publishers is not provided by the ORB. 
+ * but co-ordination between publishers is not provided by the ORB.
  *
  * @param meta		The uORB metadata (usually from the ORB_ID() macro)
  *			for the topic.
@@ -184,7 +184,8 @@ extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *d
  *			ORB_DEFINE with no corresponding ORB_DECLARE)
  *			this function will return -1 and set errno to ENOENT.
  */
-extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance, int priority) __EXPORT;
+extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
+					int priority) __EXPORT;
 
 
 /**
diff --git a/src/modules/uavcan/sensors/baro.hpp b/src/modules/uavcan/sensors/baro.hpp
index c7bbc5af8..16cd476ea 100644
--- a/src/modules/uavcan/sensors/baro.hpp
+++ b/src/modules/uavcan/sensors/baro.hpp
@@ -47,7 +47,7 @@ class UavcanBarometerBridge : public UavcanCDevSensorBridgeBase
 public:
 	static const char *const NAME;
 
-	UavcanBarometerBridge(uavcan::INode& node);
+	UavcanBarometerBridge(uavcan::INode &node);
 
 	const char *get_name() const override { return NAME; }
 
@@ -58,9 +58,9 @@ private:
 
 	void air_data_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData> &msg);
 
-	typedef uavcan::MethodBinder<UavcanBarometerBridge*,
+	typedef uavcan::MethodBinder < UavcanBarometerBridge *,
 		void (UavcanBarometerBridge::*)
-			(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData>&)>
+		(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData> &) >
 		AirDataCbBinder;
 
 	uavcan::Subscriber<uavcan::equipment::air_data::StaticAirData, AirDataCbBinder> _sub_air_data;
diff --git a/src/modules/uavcan/sensors/gnss.hpp b/src/modules/uavcan/sensors/gnss.hpp
index 96ff9404f..4b94d9306 100644
--- a/src/modules/uavcan/sensors/gnss.hpp
+++ b/src/modules/uavcan/sensors/gnss.hpp
@@ -56,7 +56,7 @@ class UavcanGnssBridge : public IUavcanSensorBridge
 public:
 	static const char *const NAME;
 
-	UavcanGnssBridge(uavcan::INode& node);
+	UavcanGnssBridge(uavcan::INode &node);
 
 	const char *get_name() const override { return NAME; }
 
@@ -72,8 +72,8 @@ private:
 	 */
 	void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg);
 
-	typedef uavcan::MethodBinder<UavcanGnssBridge*,
-		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>&)>
+	typedef uavcan::MethodBinder < UavcanGnssBridge *,
+		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &) >
 		FixCbBinder;
 
 	uavcan::INode &_node;
diff --git a/src/modules/uavcan/sensors/mag.hpp b/src/modules/uavcan/sensors/mag.hpp
index db38aee1d..b74afeb0b 100644
--- a/src/modules/uavcan/sensors/mag.hpp
+++ b/src/modules/uavcan/sensors/mag.hpp
@@ -47,7 +47,7 @@ class UavcanMagnetometerBridge : public UavcanCDevSensorBridgeBase
 public:
 	static const char *const NAME;
 
-	UavcanMagnetometerBridge(uavcan::INode& node);
+	UavcanMagnetometerBridge(uavcan::INode &node);
 
 	const char *get_name() const override { return NAME; }
 
@@ -59,9 +59,9 @@ private:
 
 	void mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg);
 
-	typedef uavcan::MethodBinder<UavcanMagnetometerBridge*,
+	typedef uavcan::MethodBinder < UavcanMagnetometerBridge *,
 		void (UavcanMagnetometerBridge::*)
-			(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer>&)>
+		(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &) >
 		MagCbBinder;
 
 	uavcan::Subscriber<uavcan::equipment::ahrs::Magnetometer, MagCbBinder> _sub_mag;
diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp
index 19b9b4b48..96b3ec1a6 100644
--- a/src/modules/uavcan/uavcan_main.hpp
+++ b/src/modules/uavcan/uavcan_main.hpp
@@ -82,7 +82,7 @@ public:
 
 	static int	start(uavcan::NodeID node_id, uint32_t bitrate);
 
-	Node&		get_node() { return _node; }
+	Node		&get_node() { return _node; }
 
 	// TODO: move the actuator mixing stuff into the ESC controller class
 	static int	control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);
@@ -94,7 +94,7 @@ public:
 
 	void		print_info();
 
-	static UavcanNode* instance() { return _instance; }
+	static UavcanNode *instance() { return _instance; }
 
 private:
 	void		fill_node_info();
@@ -122,7 +122,7 @@ private:
 
 	UavcanEscController	_esc_controller;
 
-	List<IUavcanSensorBridge*> _sensor_bridges;		///< List of active sensor bridges
+	List<IUavcanSensorBridge *> _sensor_bridges;		///< List of active sensor bridges
 
 	MixerGroup		*_mixers = nullptr;
 
diff --git a/src/modules/unit_test/unit_test.cpp b/src/modules/unit_test/unit_test.cpp
index b7568ce3a..c45d7888a 100644
--- a/src/modules/unit_test/unit_test.cpp
+++ b/src/modules/unit_test/unit_test.cpp
@@ -57,13 +57,14 @@ void UnitTest::print_results(void)
 }
 
 /// @brief Used internally to the ut_assert macro to print assert failures.
-void UnitTest::_print_assert(const char* msg, const char* test, const char* file, int line)
+void UnitTest::_print_assert(const char *msg, const char *test, const char *file, int line)
 {
 	warnx("Assertion failed: %s - %s (%s:%d)", msg, test, file, line);
 }
 
 /// @brief Used internally to the ut_compare macro to print assert failures.
-void UnitTest::_print_compare(const char* msg, const char *v1_text, int v1, const char *v2_text, int v2, const char* file, int line)
+void UnitTest::_print_compare(const char *msg, const char *v1_text, int v1, const char *v2_text, int v2,
+			      const char *file, int line)
 {
 	warnx("Compare failed: %s - (%s:%d) (%s:%d) (%s:%d)", msg, v1_text, v1, v2_text, v2, file, line);
 }