mc att control: ran fix code style script

5 files changed, 71 insertions, 53 deletions

diff --git a/src/modules/mc_att_control/mc_att_control_base.cpp b/src/modules/mc_att_control/mc_att_control_base.cpp
index d21deb715..a3b0340d2 100644
--- a/src/modules/mc_att_control/mc_att_control_base.cpp
+++ b/src/modules/mc_att_control/mc_att_control_base.cpp
@@ -83,10 +83,12 @@ MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
 	_I.identity();
 }
 
-MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase() {
+MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase()
+{
 }
 
-void MulticopterAttitudeControlBase::control_attitude(float dt) {
+void MulticopterAttitudeControlBase::control_attitude(float dt)
+{
 	float yaw_sp_move_rate = 0.0f;
 	_publish_att_sp = false;
 
@@ -94,7 +96,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
 		/* manual input, set or modify attitude setpoint */
 
 		if (_v_control_mode.flag_control_velocity_enabled
-				|| _v_control_mode.flag_control_climb_rate_enabled) {
+		    || _v_control_mode.flag_control_climb_rate_enabled) {
 			/* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */
 			vehicle_attitude_setpoint_poll();
 		}
@@ -121,15 +123,17 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
 			/* move yaw setpoint */
 			yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max;
 			_v_att_sp.yaw_body = _wrap_pi(
-					_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
+						     _v_att_sp.yaw_body + yaw_sp_move_rate * dt);
 			float yaw_offs_max = _params.man_yaw_max / _params.att_p(2);
 			float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw);
+
 			if (yaw_offs < -yaw_offs_max) {
 				_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max);
 
 			} else if (yaw_offs > yaw_offs_max) {
 				_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max);
 			}
+
 			_v_att_sp.R_valid = false;
 			_publish_att_sp = true;
 		}
@@ -146,7 +150,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
 			/* update attitude setpoint if not in position control mode */
 			_v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max;
 			_v_att_sp.pitch_body = -_manual_control_sp.x
-					* _params.man_pitch_max;
+					       * _params.man_pitch_max;
 			_v_att_sp.R_valid = false;
 			_publish_att_sp = true;
 		}
@@ -175,7 +179,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
 
 		/* copy rotation matrix back to setpoint struct */
 		memcpy(&_v_att_sp.R_body[0][0], &R_sp.data[0][0],
-				sizeof(_v_att_sp.R_body));
+		       sizeof(_v_att_sp.R_body));
 		_v_att_sp.R_valid = true;
 	}
 
@@ -221,8 +225,8 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
 
 		/* rotation matrix for roll/pitch only rotation */
 		R_rp = R
-				* (_I + e_R_cp * e_R_z_sin
-						+ e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
+		       * (_I + e_R_cp * e_R_z_sin
+			  + e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
 
 	} else {
 		/* zero roll/pitch rotation */
@@ -253,13 +257,14 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
 
 	/* limit yaw rate */
 	_rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max,
-			_params.yaw_rate_max);
+				       _params.yaw_rate_max);
 
 	/* feed forward yaw setpoint rate */
 	_rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff;
 }
 
-void MulticopterAttitudeControlBase::control_attitude_rates(float dt) {
+void MulticopterAttitudeControlBase::control_attitude_rates(float dt)
+{
 	/* reset integral if disarmed */
 	if (!_armed.armed) {
 		_rates_int.zero();
@@ -274,7 +279,7 @@ void MulticopterAttitudeControlBase::control_attitude_rates(float dt) {
 	/* angular rates error */
 	math::Vector < 3 > rates_err = _rates_sp - rates;
 	_att_control = _params.rate_p.emult(rates_err)
-			+ _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int;
+		       + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int;
 	_rates_prev = rates;
 
 	/* update integral only if not saturated on low limit */
@@ -282,11 +287,11 @@ void MulticopterAttitudeControlBase::control_attitude_rates(float dt) {
 		for (int i = 0; i < 3; i++) {
 			if (fabsf(_att_control(i)) < _thrust_sp) {
 				float rate_i = _rates_int(i)
-						+ _params.rate_i(i) * rates_err(i) * dt;
+					       + _params.rate_i(i) * rates_err(i) * dt;
 
 				if (isfinite(
-						rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
-						_att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
+					    rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
+				    _att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
 					_rates_int(i) = rate_i;
 				}
 			}
@@ -295,7 +300,8 @@ void MulticopterAttitudeControlBase::control_attitude_rates(float dt) {
 
 }
 
-void MulticopterAttitudeControlBase::set_actuator_controls() {
+void MulticopterAttitudeControlBase::set_actuator_controls()
+{
 	_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
 	_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
 	_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
diff --git a/src/modules/mc_att_control/mc_att_control_base.h b/src/modules/mc_att_control/mc_att_control_base.h
index 009f76268..e7793e624 100644
--- a/src/modules/mc_att_control/mc_att_control_base.h
+++ b/src/modules/mc_att_control/mc_att_control_base.h
@@ -64,7 +64,8 @@
 #define MIN_TAKEOFF_THRUST    0.2f
 #define RATES_I_LIMIT	0.3f
 
-class MulticopterAttitudeControlBase {
+class MulticopterAttitudeControlBase
+{
 public:
 	/**
 	 * Constructor
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 7bc638e5d..d6a58f418 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -477,8 +477,9 @@ MulticopterAttitudeControl::task_main()
 		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
 
 		/* timed out - periodic check for _task_should_exit */
-		if (pret == 0)
+		if (pret == 0) {
 			continue;
+		}
 
 		/* this is undesirable but not much we can do - might want to flag unhappy status */
 		if (pret < 0) {
@@ -522,10 +523,11 @@ MulticopterAttitudeControl::task_main()
 
 					if (_att_sp_pub > 0) {
 						orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub,
-								&_v_att_sp);
+							    &_v_att_sp);
+
 					} else {
 						_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint),
-								&_v_att_sp);
+									    &_v_att_sp);
 					}
 				}
 
@@ -547,7 +549,8 @@ MulticopterAttitudeControl::task_main()
 				/* attitude controller disabled, poll rates setpoint topic */
 				if (_v_control_mode.flag_control_manual_enabled) {
 					/* manual rates control - ACRO mode */
-					_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max);
+					_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x,
+								    _manual_control_sp.r).emult(_params.acro_rate_max);
 					_thrust_sp = _manual_control_sp.z;
 
 					/* reset yaw setpoint after ACRO */
@@ -630,18 +633,21 @@ MulticopterAttitudeControl::start()
 
 int mc_att_control_main(int argc, char *argv[])
 {
-	if (argc < 1)
+	if (argc < 1) {
 		errx(1, "usage: mc_att_control {start|stop|status}");
+	}
 
 	if (!strcmp(argv[1], "start")) {
 
-		if (mc_att_control::g_control != nullptr)
+		if (mc_att_control::g_control != nullptr) {
 			errx(1, "already running");
+		}
 
 		mc_att_control::g_control = new MulticopterAttitudeControl;
 
-		if (mc_att_control::g_control == nullptr)
+		if (mc_att_control::g_control == nullptr) {
 			errx(1, "alloc failed");
+		}
 
 		if (OK != mc_att_control::g_control->start()) {
 			delete mc_att_control::g_control;
@@ -653,8 +659,9 @@ int mc_att_control_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "stop")) {
-		if (mc_att_control::g_control == nullptr)
+		if (mc_att_control::g_control == nullptr) {
 			errx(1, "not running");
+		}
 
 		delete mc_att_control::g_control;
 		mc_att_control::g_control = nullptr;
diff --git a/src/modules/mc_att_control/mc_att_control_sim.cpp b/src/modules/mc_att_control/mc_att_control_sim.cpp
index 61a4237fc..faf729420 100644
--- a/src/modules/mc_att_control/mc_att_control_sim.cpp
+++ b/src/modules/mc_att_control/mc_att_control_sim.cpp
@@ -46,7 +46,8 @@
 using namespace std;
 #endif
 
-void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double> attitude) {
+void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double> attitude)
+{
 	math::Quaternion quat;
 	quat(0) = (float)attitude.w();
 	quat(1) = (float)attitude.x();
@@ -58,48 +59,51 @@ void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double>
 	_v_att.q[2] = quat(2);
 	_v_att.q[3] = quat(3);
 
-	math::Matrix<3,3> Rot = quat.to_dcm();
-	_v_att.R[0][0] = Rot(0,0);
-	_v_att.R[1][0] = Rot(1,0);
-	_v_att.R[2][0] = Rot(2,0);
-	_v_att.R[0][1] = Rot(0,1);
-	_v_att.R[1][1] = Rot(1,1);
-	_v_att.R[2][1] = Rot(2,1);
-	_v_att.R[0][2] = Rot(0,2);
-	_v_att.R[1][2] = Rot(1,2);
-	_v_att.R[2][2] = Rot(2,2);
+	math::Matrix<3, 3> Rot = quat.to_dcm();
+	_v_att.R[0][0] = Rot(0, 0);
+	_v_att.R[1][0] = Rot(1, 0);
+	_v_att.R[2][0] = Rot(2, 0);
+	_v_att.R[0][1] = Rot(0, 1);
+	_v_att.R[1][1] = Rot(1, 1);
+	_v_att.R[2][1] = Rot(2, 1);
+	_v_att.R[0][2] = Rot(0, 2);
+	_v_att.R[1][2] = Rot(1, 2);
+	_v_att.R[2][2] = Rot(2, 2);
 
 	_v_att.R_valid = true;
 }
 
-void MulticopterAttitudeControlSim::set_attitude_rates(const Eigen::Vector3d& angular_rate) {
+void MulticopterAttitudeControlSim::set_attitude_rates(const Eigen::Vector3d &angular_rate)
+{
 	// check if this is consistent !!!
 	_v_att.rollspeed  = angular_rate(0);
 	_v_att.pitchspeed = angular_rate(1);
 	_v_att.yawspeed   = angular_rate(2);
 }
 
-void MulticopterAttitudeControlSim::set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference) {
+void MulticopterAttitudeControlSim::set_attitude_reference(const Eigen::Vector4d &control_attitude_thrust_reference)
+{
 	_v_att_sp.roll_body  = control_attitude_thrust_reference(0);
 	_v_att_sp.pitch_body = control_attitude_thrust_reference(1);
 	_v_att_sp.yaw_body   = control_attitude_thrust_reference(2);
-	_v_att_sp.thrust     = (control_attitude_thrust_reference(3) -30)*(-1)/30;
+	_v_att_sp.thrust     = (control_attitude_thrust_reference(3) - 30) * (-1) / 30;
 
 	// setup rotation matrix
-	math::Matrix<3,3> Rot_sp;
-	Rot_sp.from_euler(_v_att_sp.roll_body,_v_att_sp.pitch_body,_v_att_sp.yaw_body);
-	_v_att_sp.R_body[0][0] = Rot_sp(0,0);
-	_v_att_sp.R_body[1][0] = Rot_sp(1,0);
-	_v_att_sp.R_body[2][0] = Rot_sp(2,0);
-	_v_att_sp.R_body[0][1] = Rot_sp(0,1);
-	_v_att_sp.R_body[1][1] = Rot_sp(1,1);
-	_v_att_sp.R_body[2][1] = Rot_sp(2,1);
-	_v_att_sp.R_body[0][2] = Rot_sp(0,2);
-	_v_att_sp.R_body[1][2] = Rot_sp(1,2);
-	_v_att_sp.R_body[2][2] = Rot_sp(2,2);
+	math::Matrix<3, 3> Rot_sp;
+	Rot_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body);
+	_v_att_sp.R_body[0][0] = Rot_sp(0, 0);
+	_v_att_sp.R_body[1][0] = Rot_sp(1, 0);
+	_v_att_sp.R_body[2][0] = Rot_sp(2, 0);
+	_v_att_sp.R_body[0][1] = Rot_sp(0, 1);
+	_v_att_sp.R_body[1][1] = Rot_sp(1, 1);
+	_v_att_sp.R_body[2][1] = Rot_sp(2, 1);
+	_v_att_sp.R_body[0][2] = Rot_sp(0, 2);
+	_v_att_sp.R_body[1][2] = Rot_sp(1, 2);
+	_v_att_sp.R_body[2][2] = Rot_sp(2, 2);
 }
 
-void MulticopterAttitudeControlSim::get_mixer_input(Eigen::Vector4d& motor_inputs) {
+void MulticopterAttitudeControlSim::get_mixer_input(Eigen::Vector4d &motor_inputs)
+{
 	motor_inputs(0) = _actuators.control[0];
 	motor_inputs(1) = _actuators.control[1];
 	motor_inputs(2) = _actuators.control[2];
diff --git a/src/modules/mc_att_control/mc_att_control_sim.h b/src/modules/mc_att_control/mc_att_control_sim.h
index 20752b054..0b48455af 100644
--- a/src/modules/mc_att_control/mc_att_control_sim.h
+++ b/src/modules/mc_att_control/mc_att_control_sim.h
@@ -82,9 +82,9 @@ public:
 
 	/* setters and getters for interface with euroc-gazebo simulator */
 	void set_attitude(const Eigen::Quaternion<double> attitude);
-	void set_attitude_rates(const Eigen::Vector3d& angular_rate);
-	void set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference);
-	void get_mixer_input(Eigen::Vector4d& motor_inputs);
+	void set_attitude_rates(const Eigen::Vector3d &angular_rate);
+	void set_attitude_reference(const Eigen::Vector4d &control_attitude_thrust_reference);
+	void get_mixer_input(Eigen::Vector4d &motor_inputs);
 
 protected:
 	void vehicle_attitude_setpoint_poll() {};