fix code style in src/platforms

12 files changed, 117 insertions, 80 deletions

diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h
index 28eef7e18..6b6a03893 100644
--- a/src/platforms/px4_defines.h
+++ b/src/platforms/px4_defines.h
@@ -84,6 +84,7 @@ static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, int value)
 	if (!ros::param::has(name)) {
 		ros::param::set(name, value);
 	}
+
 	return (px4_param_t)name;
 };
 static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value)
@@ -91,6 +92,7 @@ static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value)
 	if (!ros::param::has(name)) {
 		ros::param::set(name, value);
 	}
+
 	return (px4_param_t)name;
 };
 
@@ -179,8 +181,8 @@ typedef param_t px4_param_t;
 /* XXX this is a hack to resolve conflicts with NuttX headers */
 #if !defined(__PX4_TESTS)
 #define isspace(c) \
-  ((c) == ' '  || (c) == '\t' || (c) == '\n' || \
-   (c) == '\r' || (c) == '\f' || c== '\v')
+	((c) == ' '  || (c) == '\t' || (c) == '\n' || \
+	 (c) == '\r' || (c) == '\f' || c== '\v')
 #endif
 
 #endif
diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h
index 624a466fd..7b14caed9 100644
--- a/src/platforms/px4_nodehandle.h
+++ b/src/platforms/px4_nodehandle.h
@@ -78,11 +78,12 @@ public:
 	 * @param fb		Callback, executed on receiving a new message
 	 */
 	template<typename M>
-	Subscriber<M> *subscribe(const char *topic, void(*fp)(const M&))
+	Subscriber<M> *subscribe(const char *topic, void(*fp)(const M &))
 	{
 		SubscriberBase *sub = new SubscriberROS<M>(std::bind(fp, std::placeholders::_1));
-		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback, (SubscriberROS<M>*)sub);
-		((SubscriberROS<M>*)sub)->set_ros_sub(ros_sub);
+		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback,
+					  (SubscriberROS<M> *)sub);
+		((SubscriberROS<M> *)sub)->set_ros_sub(ros_sub);
 		_subs.push_back(sub);
 		return (Subscriber<M> *)sub;
 	}
@@ -93,11 +94,12 @@ public:
 	 * @param fb		Callback, executed on receiving a new message
 	 */
 	template<typename M, typename T>
-	Subscriber<M> *subscribe(const char *topic, void(T::*fp)(const M&), T *obj)
+	Subscriber<M> *subscribe(const char *topic, void(T::*fp)(const M &), T *obj)
 	{
 		SubscriberBase *sub = new SubscriberROS<M>(std::bind(fp, obj, std::placeholders::_1));
-		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback, (SubscriberROS<M>*)sub);
-		((SubscriberROS<M>*)sub)->set_ros_sub(ros_sub);
+		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback,
+					  (SubscriberROS<M> *)sub);
+		((SubscriberROS<M> *)sub)->set_ros_sub(ros_sub);
 		_subs.push_back(sub);
 		return (Subscriber<M> *)sub;
 	}
@@ -110,8 +112,9 @@ public:
 	Subscriber<M> *subscribe(const char *topic)
 	{
 		SubscriberBase *sub = new SubscriberROS<M>();
-		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback, (SubscriberROS<M>*)sub);
-		((SubscriberROS<M>*)sub)->set_ros_sub(ros_sub);
+		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, &SubscriberROS<M>::callback,
+					  (SubscriberROS<M> *)sub);
+		((SubscriberROS<M> *)sub)->set_ros_sub(ros_sub);
 		_subs.push_back(sub);
 		return (Subscriber<M> *)sub;
 	}
@@ -160,6 +163,7 @@ public:
 		/* Empty subscriptions list */
 		uORB::SubscriptionNode *sub = _subs.getHead();
 		int count = 0;
+
 		while (sub != nullptr) {
 			if (count++ > kMaxSubscriptions) {
 				PX4_WARN("exceeded max subscriptions");
@@ -174,6 +178,7 @@ public:
 		/* Empty publications list */
 		uORB::PublicationNode *pub = _pubs.getHead();
 		count = 0;
+
 		while (pub != nullptr) {
 			if (count++ > kMaxPublications) {
 				PX4_WARN("exceeded max publications");
@@ -195,8 +200,8 @@ public:
 
 	template<typename M>
 	Subscriber<M> *subscribe(const struct orb_metadata *meta,
-			      std::function<void(const M &)> callback,
-			      unsigned interval)
+				 std::function<void(const M &)> callback,
+				 unsigned interval)
 	{
 		SubscriberUORBCallback<M> *sub_px4 = new SubscriberUORBCallback<M>(meta, interval, callback, &_subs);
 
@@ -216,7 +221,7 @@ public:
 
 	template<typename M>
 	Subscriber<M> *subscribe(const struct orb_metadata *meta,
-			      unsigned interval)
+				 unsigned interval)
 	{
 		SubscriberUORB<M> *sub_px4 = new SubscriberUORB<M>(meta, interval, &_subs);
 
diff --git a/src/platforms/px4_subscriber.h b/src/platforms/px4_subscriber.h
index 107c60189..aaacf9e48 100644
--- a/src/platforms/px4_subscriber.h
+++ b/src/platforms/px4_subscriber.h
@@ -86,7 +86,7 @@ public:
 	/**
 	 * Get void pointer to last message value
 	 */
-	virtual void * get_void_ptr() = 0;
+	virtual void *get_void_ptr() = 0;
 };
 
 #if defined(__PX4_ROS)
@@ -97,7 +97,7 @@ template<typename M>
 class SubscriberROS :
 	public Subscriber<M>
 {
-friend class NodeHandle;
+	friend class NodeHandle;
 
 public:
 	/**
@@ -131,13 +131,14 @@ public:
 	/**
 	 * Get void pointer to last message value
 	 */
-	void * get_void_ptr() { return (void*)&_msg_current; }
+	void *get_void_ptr() { return (void *)&_msg_current; }
 
 protected:
 	/**
 	 * Called on topic update, saves the current message and then calls the provided callback function
 	 */
-	void callback(const M &msg) {
+	void callback(const M &msg)
+	{
 		/* Store data */
 		_msg_current = msg;
 
@@ -151,7 +152,8 @@ protected:
 	/**
 	 * Saves the ros subscriber to keep ros subscription alive
 	 */
-	void set_ros_sub(ros::Subscriber ros_sub) {
+	void set_ros_sub(ros::Subscriber ros_sub)
+	{
 		_ros_sub = ros_sub;
 	}
 
@@ -180,8 +182,8 @@ public:
 	 * @param list	    subscriber is added to this list
 	 */
 	SubscriberUORB(const struct orb_metadata *meta,
-		      unsigned interval,
-		      List<uORB::SubscriptionNode *> *list) :
+		       unsigned interval,
+		       List<uORB::SubscriptionNode *> *list) :
 		Subscriber<M>(),
 		uORB::Subscription<M>(meta, interval, list)
 	{}
@@ -211,7 +213,7 @@ public:
 	/**
 	 * Get void pointer to last message value
 	 */
-	void * get_void_ptr() { return uORB::Subscription<M>::getDataVoidPtr(); }
+	void *get_void_ptr() { return uORB::Subscription<M>::getDataVoidPtr(); }
 };
 
 template<typename M>
@@ -227,9 +229,9 @@ public:
 	 * @param list	    subscriber is added to this list
 	 */
 	SubscriberUORBCallback(const struct orb_metadata *meta,
-		      unsigned interval,
-		      std::function<void(const M &)> callback,
-		      List<uORB::SubscriptionNode *> *list) :
+			       unsigned interval,
+			       std::function<void(const M &)> callback,
+			       List<uORB::SubscriptionNode *> *list) :
 		SubscriberUORB<M>(meta, interval, list),
 		_callback(callback)
 	{}
diff --git a/src/platforms/ros/eigen_math.h b/src/platforms/ros/eigen_math.h
index 60fc9b93c..c7271c157 100755
--- a/src/platforms/ros/eigen_math.h
+++ b/src/platforms/ros/eigen_math.h
@@ -9,8 +9,7 @@
 #define EIGEN_MATH_H_
 
 
-struct eigen_matrix_instance
-{
+struct eigen_matrix_instance {
 	int numRows;
 	int numCols;
 	float *pData;
diff --git a/src/platforms/ros/geo.cpp b/src/platforms/ros/geo.cpp
index a7ee6fd84..6fad681c9 100644
--- a/src/platforms/ros/geo.cpp
+++ b/src/platforms/ros/geo.cpp
@@ -60,6 +60,7 @@ __EXPORT float _wrap_pi(float bearing)
 	}
 
 	int c = 0;
+
 	while (bearing >= M_PI_F) {
 		bearing -= M_TWOPI_F;
 
@@ -69,6 +70,7 @@ __EXPORT float _wrap_pi(float bearing)
 	}
 
 	c = 0;
+
 	while (bearing < -M_PI_F) {
 		bearing += M_TWOPI_F;
 
@@ -88,6 +90,7 @@ __EXPORT float _wrap_2pi(float bearing)
 	}
 
 	int c = 0;
+
 	while (bearing >= M_TWOPI_F) {
 		bearing -= M_TWOPI_F;
 
@@ -97,6 +100,7 @@ __EXPORT float _wrap_2pi(float bearing)
 	}
 
 	c = 0;
+
 	while (bearing < 0.0f) {
 		bearing += M_TWOPI_F;
 
@@ -116,6 +120,7 @@ __EXPORT float _wrap_180(float bearing)
 	}
 
 	int c = 0;
+
 	while (bearing >= 180.0f) {
 		bearing -= 360.0f;
 
@@ -125,6 +130,7 @@ __EXPORT float _wrap_180(float bearing)
 	}
 
 	c = 0;
+
 	while (bearing < -180.0f) {
 		bearing += 360.0f;
 
@@ -144,6 +150,7 @@ __EXPORT float _wrap_360(float bearing)
 	}
 
 	int c = 0;
+
 	while (bearing >= 360.0f) {
 		bearing -= 360.0f;
 
@@ -153,6 +160,7 @@ __EXPORT float _wrap_360(float bearing)
 	}
 
 	c = 0;
+
 	while (bearing < 0.0f) {
 		bearing += 360.0f;
 
diff --git a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp
index 46c836b36..ce863d10e 100644
--- a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp
+++ b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp
@@ -52,7 +52,7 @@ AttitudeEstimator::AttitudeEstimator() :
 {
 }
 
-void AttitudeEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstPtr& msg)
+void AttitudeEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstPtr &msg)
 {
 	px4::vehicle_attitude msg_v_att;
 
@@ -64,8 +64,8 @@ void AttitudeEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstP
 	int index = 1;
 	quat(0) = (float)msg->pose[index].orientation.w;
 	quat(1) = (float)msg->pose[index].orientation.x;
-	quat(2) = (float)-msg->pose[index].orientation.y;
-	quat(3) = (float)-msg->pose[index].orientation.z;
+	quat(2) = (float) - msg->pose[index].orientation.y;
+	quat(3) = (float) - msg->pose[index].orientation.z;
 
 	msg_v_att.q[0] = quat(0);
 	msg_v_att.q[1] = quat(1);
@@ -73,11 +73,13 @@ void AttitudeEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstP
 	msg_v_att.q[3] = quat(3);
 
 	math::Matrix<3, 3> rot = quat.to_dcm();
+
 	for (int i = 0; i < 3; i++) {
 		for (int j = 0; j < 3; j++) {
 			PX4_R(msg_v_att.R, i, j) = rot(i, j);
 		}
 	}
+
 	msg_v_att.R_valid = true;
 
 	math::Vector<3> euler = rot.to_euler();
@@ -93,7 +95,7 @@ void AttitudeEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstP
 	_vehicle_attitude_pub.publish(msg_v_att);
 }
 
-void AttitudeEstimator::ImuCallback(const sensor_msgs::ImuConstPtr& msg)
+void AttitudeEstimator::ImuCallback(const sensor_msgs::ImuConstPtr &msg)
 {
 	px4::vehicle_attitude msg_v_att;
 
@@ -105,8 +107,8 @@ void AttitudeEstimator::ImuCallback(const sensor_msgs::ImuConstPtr& msg)
 	int index = 1;
 	quat(0) = (float)msg->orientation.w;
 	quat(1) = (float)msg->orientation.x;
-	quat(2) = (float)-msg->orientation.y;
-	quat(3) = (float)-msg->orientation.z;
+	quat(2) = (float) - msg->orientation.y;
+	quat(3) = (float) - msg->orientation.z;
 
 	msg_v_att.q[0] = quat(0);
 	msg_v_att.q[1] = quat(1);
@@ -114,11 +116,13 @@ void AttitudeEstimator::ImuCallback(const sensor_msgs::ImuConstPtr& msg)
 	msg_v_att.q[3] = quat(3);
 
 	math::Matrix<3, 3> rot = quat.to_dcm();
+
 	for (int i = 0; i < 3; i++) {
 		for (int j = 0; j < 3; j++) {
 			PX4_R(msg_v_att.R, i, j) = rot(i, j);
 		}
 	}
+
 	msg_v_att.R_valid = true;
 
 	math::Vector<3> euler = rot.to_euler();
@@ -136,10 +140,10 @@ void AttitudeEstimator::ImuCallback(const sensor_msgs::ImuConstPtr& msg)
 
 int main(int argc, char **argv)
 {
-  ros::init(argc, argv, "attitude_estimator");
-  AttitudeEstimator m;
+	ros::init(argc, argv, "attitude_estimator");
+	AttitudeEstimator m;
 
-  ros::spin();
+	ros::spin();
 
-  return 0;
+	return 0;
 }
diff --git a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.h b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.h
index 7c09985f3..f760a39d8 100644
--- a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.h
+++ b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.h
@@ -42,15 +42,16 @@
 #include <gazebo_msgs/ModelStates.h>
 #include <sensor_msgs/Imu.h>
 
-class AttitudeEstimator {
+class AttitudeEstimator
+{
 public:
 	AttitudeEstimator();
 
 	~AttitudeEstimator() {}
 
 protected:
-	void ModelStatesCallback(const gazebo_msgs::ModelStatesConstPtr& msg);
-	void ImuCallback(const sensor_msgs::ImuConstPtr& msg);
+	void ModelStatesCallback(const gazebo_msgs::ModelStatesConstPtr &msg);
+	void ImuCallback(const sensor_msgs::ImuConstPtr &msg);
 
 	ros::NodeHandle _n;
 	ros::Subscriber _sub_modelstates;
diff --git a/src/platforms/ros/nodes/commander/commander.cpp b/src/platforms/ros/nodes/commander/commander.cpp
index d8ff739b9..b9fc296f9 100644
--- a/src/platforms/ros/nodes/commander/commander.cpp
+++ b/src/platforms/ros/nodes/commander/commander.cpp
@@ -57,7 +57,7 @@ Commander::Commander() :
 {
 }
 
-void Commander::ManualControlInputCallback(const px4::manual_control_setpointConstPtr& msg)
+void Commander::ManualControlInputCallback(const px4::manual_control_setpointConstPtr &msg)
 {
 	px4::vehicle_control_mode msg_vehicle_control_mode;
 	px4::vehicle_status msg_vehicle_status;
@@ -72,14 +72,16 @@ void Commander::ManualControlInputCallback(const px4::manual_control_setpointCon
 	/* fill actuator armed */
 	float arm_th = 0.95;
 	_msg_actuator_armed.timestamp = px4::get_time_micros();
+
 	if (_msg_actuator_armed.armed) {
 		/* Check for disarm */
-		if (msg->r < -arm_th && msg->z < (1-arm_th)) {
+		if (msg->r < -arm_th && msg->z < (1 - arm_th)) {
 			_msg_actuator_armed.armed = false;
 		}
+
 	} else {
 		/* Check for arm */
-		if (msg->r > arm_th && msg->z < (1-arm_th)) {
+		if (msg->r > arm_th && msg->z < (1 - arm_th)) {
 			_msg_actuator_armed.armed = true;
 		}
 	}
@@ -107,8 +109,8 @@ void Commander::ManualControlInputCallback(const px4::manual_control_setpointCon
 
 int main(int argc, char **argv)
 {
-  ros::init(argc, argv, "commander");
-  Commander m;
-  ros::spin();
-  return 0;
+	ros::init(argc, argv, "commander");
+	Commander m;
+	ros::spin();
+	return 0;
 }
diff --git a/src/platforms/ros/nodes/commander/commander.h b/src/platforms/ros/nodes/commander/commander.h
index f3c2f6f1a..bd4092b3a 100644
--- a/src/platforms/ros/nodes/commander/commander.h
+++ b/src/platforms/ros/nodes/commander/commander.h
@@ -43,7 +43,8 @@
 #include <px4/parameter_update.h>
 #include <px4/actuator_armed.h>
 
-class Commander {
+class Commander
+{
 public:
 	Commander();
 
@@ -53,7 +54,7 @@ protected:
 	/**
 	 * Based on manual control input the status will be set
 	 */
-	void ManualControlInputCallback(const px4::manual_control_setpointConstPtr& msg);
+	void ManualControlInputCallback(const px4::manual_control_setpointConstPtr &msg);
 
 	ros::NodeHandle _n;
 	ros::Subscriber _man_ctrl_sp_sub;
diff --git a/src/platforms/ros/nodes/manual_input/manual_input.cpp b/src/platforms/ros/nodes/manual_input/manual_input.cpp
index 475d0c4d2..688df50e0 100644
--- a/src/platforms/ros/nodes/manual_input/manual_input.cpp
+++ b/src/platforms/ros/nodes/manual_input/manual_input.cpp
@@ -72,7 +72,7 @@ ManualInput::ManualInput() :
 
 }
 
-void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg)
+void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr &msg)
 {
 	px4::manual_control_setpoint msg_out;
 
@@ -99,10 +99,11 @@ void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg)
 	_man_ctrl_sp_pub.publish(msg_out);
 }
 
-void ManualInput::MapAxis(const sensor_msgs::JoyConstPtr& msg, int map_index, double scale, double offset,
-		double deadzone, float &out)
+void ManualInput::MapAxis(const sensor_msgs::JoyConstPtr &msg, int map_index, double scale, double offset,
+			  double deadzone, float &out)
 {
 	double val = msg->axes[map_index];
+
 	if (val + offset > deadzone || val + offset < -deadzone) {
 		out = (float)((val + offset)) * scale;
 	}
@@ -110,8 +111,8 @@ void ManualInput::MapAxis(const sensor_msgs::JoyConstPtr& msg, int map_index, do
 
 int main(int argc, char **argv)
 {
-  ros::init(argc, argv, "manual_input");
-  ManualInput m;
-  ros::spin();
-  return 0;
+	ros::init(argc, argv, "manual_input");
+	ManualInput m;
+	ros::spin();
+	return 0;
 }
diff --git a/src/platforms/ros/nodes/manual_input/manual_input.h b/src/platforms/ros/nodes/manual_input/manual_input.h
index fb516d375..93e0abe64 100644
--- a/src/platforms/ros/nodes/manual_input/manual_input.h
+++ b/src/platforms/ros/nodes/manual_input/manual_input.h
@@ -41,7 +41,8 @@
 #include "ros/ros.h"
 #include <sensor_msgs/Joy.h>
 
-class ManualInput {
+class ManualInput
+{
 public:
 	ManualInput();
 
@@ -51,13 +52,13 @@ protected:
 	/**
 	 * Takes ROS joystick message and converts/publishes to px4 manual control setpoint topic
 	 */
-	void JoyCallback(const sensor_msgs::JoyConstPtr& msg);
+	void JoyCallback(const sensor_msgs::JoyConstPtr &msg);
 
 	/**
 	 * Helper function to map and scale joystick input
 	 */
-	void MapAxis(const sensor_msgs::JoyConstPtr& msg, int map_index, double scale, double offset, double deadzone,
-			float &out);
+	void MapAxis(const sensor_msgs::JoyConstPtr &msg, int map_index, double scale, double offset, double deadzone,
+		     float &out);
 
 	ros::NodeHandle _n;
 	ros::Subscriber _joy_sub;
diff --git a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
index 5db180052..e2180af41 100644
--- a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
+++ b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
@@ -37,12 +37,13 @@
  *
  * @author Roman Bapst <romanbapst@yahoo.de>
 */
- #include <ros/ros.h>
- #include <px4.h>
- #include <lib/mathlib/mathlib.h>
- #include <mav_msgs/MotorSpeed.h>
+#include <ros/ros.h>
+#include <px4.h>
+#include <lib/mathlib/mathlib.h>
+#include <mav_msgs/MotorSpeed.h>
 
- class MultirotorMixer {
+class MultirotorMixer
+{
 public:
 
 	MultirotorMixer();
@@ -68,11 +69,11 @@ private:
 
 	struct {
 		float control[6];
-	}inputs;
+	} inputs;
 
 	struct  {
 		float control[6];
-	}outputs;
+	} outputs;
 
 	bool _armed;
 	ros::Subscriber _sub_actuator_armed;
@@ -112,18 +113,22 @@ MultirotorMixer::MultirotorMixer():
 	_rotor_count(4),
 	_rotors(_config_index[2]) //XXX + eurocconfig hardcoded
 {
-	_sub = _n.subscribe("actuator_controls_0", 1, &MultirotorMixer::actuatorControlsCallback,this);
-	_pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands",10);
+	_sub = _n.subscribe("actuator_controls_0", 1, &MultirotorMixer::actuatorControlsCallback, this);
+	_pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands", 10);
+
 	if (!_n.hasParam("motor_scaling_radps")) {
 		_n.setParam("motor_scaling_radps", 150.0);
 	}
+
 	if (!_n.hasParam("motor_offset_radps")) {
 		_n.setParam("motor_offset_radps", 600.0);
 	}
-	_sub_actuator_armed = _n.subscribe("actuator_armed", 1, &MultirotorMixer::actuatorArmedCallback,this);
+
+	_sub_actuator_armed = _n.subscribe("actuator_armed", 1, &MultirotorMixer::actuatorArmedCallback, this);
 }
 
-void MultirotorMixer::mix() {
+void MultirotorMixer::mix()
+{
 	float roll = math::constrain(inputs.control[0], -1.0f, 1.0f);
 	float pitch = math::constrain(inputs.control[1], -1.0f, 1.0f);
 	float yaw = math::constrain(inputs.control[2], -1.0f, 1.0f);
@@ -134,7 +139,7 @@ void MultirotorMixer::mix() {
 	/* perform initial mix pass yielding unbounded outputs, ignore yaw */
 	for (unsigned i = 0; i < _rotor_count; i++) {
 		float out = roll * _rotors[i].roll_scale
-				+ pitch * _rotors[i].pitch_scale + thrust;
+			    + pitch * _rotors[i].pitch_scale + thrust;
 
 		/* limit yaw if it causes outputs clipping */
 		if (out >= 0.0f && out < -yaw * _rotors[i].yaw_scale) {
@@ -145,12 +150,14 @@ void MultirotorMixer::mix() {
 		if (out < min_out) {
 			min_out = out;
 		}
+
 		if (out > max_out) {
 			max_out = out;
 		}
 
 		outputs.control[i] = out;
 	}
+
 	/* scale down roll/pitch controls if some outputs are negative, don't add yaw, keep total thrust */
 	if (min_out < 0.0f) {
 		float scale_in = thrust / (thrust - min_out);
@@ -158,8 +165,8 @@ void MultirotorMixer::mix() {
 		/* mix again with adjusted controls */
 		for (unsigned i = 0; i < _rotor_count; i++) {
 			outputs.control[i] = scale_in
-					* (roll * _rotors[i].roll_scale
-							+ pitch * _rotors[i].pitch_scale) + thrust;
+					     * (roll * _rotors[i].roll_scale
+						+ pitch * _rotors[i].pitch_scale) + thrust;
 		}
 
 	} else {
@@ -171,6 +178,7 @@ void MultirotorMixer::mix() {
 
 	/* scale down all outputs if some outputs are too large, reduce total thrust */
 	float scale_out;
+
 	if (max_out > 1.0f) {
 		scale_out = 1.0f / max_out;
 
@@ -184,10 +192,10 @@ void MultirotorMixer::mix() {
 	}
 }
 
- void MultirotorMixer::actuatorControlsCallback(const PX4_TOPIC_T(actuator_controls_0) &msg)
+void MultirotorMixer::actuatorControlsCallback(const PX4_TOPIC_T(actuator_controls_0) &msg)
 {
 	// read message
-	for(int i = 0;i < msg.NUM_ACTUATOR_CONTROLS;i++) {
+	for (int i = 0; i < msg.NUM_ACTUATOR_CONTROLS; i++) {
 		inputs.control[i] = msg.control[i];
 	}
 
@@ -200,25 +208,28 @@ void MultirotorMixer::mix() {
 	double offset;
 	_n.getParamCached("motor_scaling_radps", scaling);
 	_n.getParamCached("motor_offset_radps", offset);
+
 	if (_armed) {
 		for (int i = 0; i < _rotor_count; i++) {
 			rotor_vel_msg.motor_speed.push_back(outputs.control[i] * scaling + offset);
 		}
+
 	} else {
 		for (int i = 0; i < _rotor_count; i++) {
 			rotor_vel_msg.motor_speed.push_back(0.0);
 		}
 	}
+
 	_pub.publish(rotor_vel_msg);
 }
 
- int main(int argc, char **argv)
+int main(int argc, char **argv)
 {
-  ros::init(argc, argv, "mc_mixer");
-  MultirotorMixer mixer;
-  ros::spin();
+	ros::init(argc, argv, "mc_mixer");
+	MultirotorMixer mixer;
+	ros::spin();
 
-  return 0;
+	return 0;
 }
 
 void MultirotorMixer::actuatorArmedCallback(const PX4_TOPIC_T(actuator_armed) &msg)