Code style: minor comment styling

3 files changed, 24 insertions, 27 deletions

diff --git a/src/modules/land_detector/FixedwingLandDetector.cpp b/src/modules/land_detector/FixedwingLandDetector.cpp
index 74a197bd2..8e5bcf7ba 100644
--- a/src/modules/land_detector/FixedwingLandDetector.cpp
+++ b/src/modules/land_detector/FixedwingLandDetector.cpp
@@ -51,7 +51,6 @@ FixedwingLandDetector::FixedwingLandDetector() : LandDetector(),
 	_airspeedSub(-1),
 	_airspeed({}),
 	_parameterSub(-1),
-
 	_velocity_xy_filtered(0.0f),
 	_velocity_z_filtered(0.0f),
 	_airspeed_filtered(0.0f),
@@ -64,7 +63,7 @@ FixedwingLandDetector::FixedwingLandDetector() : LandDetector(),
 
 void FixedwingLandDetector::initialize()
 {
-	//Subscribe to local position and airspeed data
+	// Subscribe to local position and airspeed data
 	_vehicleLocalPositionSub = orb_subscribe(ORB_ID(vehicle_local_position));
 	_airspeedSub = orb_subscribe(ORB_ID(airspeed));
 }
@@ -77,30 +76,30 @@ void FixedwingLandDetector::updateSubscriptions()
 
 bool FixedwingLandDetector::update()
 {
-	//First poll for new data from our subscriptions
+	// First poll for new data from our subscriptions
 	updateSubscriptions();
 
 	const uint64_t now = hrt_absolute_time();
 	bool landDetected = false;
 
-	//TODO: reset filtered values on arming?
+	// TODO: reset filtered values on arming?
 	_velocity_xy_filtered = 0.95f * _velocity_xy_filtered + 0.05f * sqrtf(_vehicleLocalPosition.vx *
 				_vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy);
 	_velocity_z_filtered = 0.95f * _velocity_z_filtered + 0.05f * fabsf(_vehicleLocalPosition.vz);
 	_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.true_airspeed_m_s;
 
-	/* crude land detector for fixedwing */
+	// crude land detector for fixedwing
 	if (_velocity_xy_filtered < _params.maxVelocity
 	    && _velocity_z_filtered < _params.maxClimbRate
 	    && _airspeed_filtered < _params.maxAirSpeed) {
 
-		//These conditions need to be stable for a period of time before we trust them
+		// these conditions need to be stable for a period of time before we trust them
 		if (now > _landDetectTrigger) {
 			landDetected = true;
 		}
 
 	} else {
-		//reset land detect trigger
+		// reset land detect trigger
 		_landDetectTrigger = now + LAND_DETECTOR_TRIGGER_TIME;
 	}
 
diff --git a/src/modules/land_detector/LandDetector.cpp b/src/modules/land_detector/LandDetector.cpp
index 61e678b41..a4fbb9861 100644
--- a/src/modules/land_detector/LandDetector.cpp
+++ b/src/modules/land_detector/LandDetector.cpp
@@ -49,7 +49,7 @@ LandDetector::LandDetector() :
 	_taskShouldExit(false),
 	_taskIsRunning(false)
 {
-	//ctor
+	// ctor
 }
 
 LandDetector::~LandDetector()
@@ -65,20 +65,20 @@ void LandDetector::shutdown()
 
 void LandDetector::start()
 {
-	//Make sure this method has not already been called by another thread
+	// make sure this method has not already been called by another thread
 	if (isRunning()) {
 		return;
 	}
 
-	//Advertise the first land detected uORB
+	// advertise the first land detected uORB
 	_landDetected.timestamp = hrt_absolute_time();
 	_landDetected.landed = false;
 	_landDetectedPub = orb_advertise(ORB_ID(vehicle_land_detected), &_landDetected);
 
-	//Initialize land detection algorithm
+	// initialize land detection algorithm
 	initialize();
 
-	//Task is now running, keep doing so until shutdown() has been called
+	// task is now running, keep doing so until shutdown() has been called
 	_taskIsRunning = true;
 	_taskShouldExit = false;
 
@@ -86,16 +86,16 @@ void LandDetector::start()
 
 		bool landDetected = update();
 
-		//Publish if land detection state has changed
+		// publish if land detection state has changed
 		if (_landDetected.landed != landDetected) {
 			_landDetected.timestamp = hrt_absolute_time();
 			_landDetected.landed = landDetected;
 
-			/* publish the land detected broadcast */
+			// publish the land detected broadcast
 			orb_publish(ORB_ID(vehicle_land_detected), _landDetectedPub, &_landDetected);
 		}
 
-		//Limit loop rate
+		// limit loop rate
 		usleep(1000000 / LAND_DETECTOR_UPDATE_RATE);
 	}
 
@@ -107,7 +107,7 @@ bool LandDetector::orb_update(const struct orb_metadata *meta, int handle, void
 {
 	bool newData = false;
 
-	//Check if there is new data to grab
+	// check if there is new data to grab
 	if (orb_check(handle, &newData) != OK) {
 		return false;
 	}
diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp
index cc984f11f..277cb9363 100644
--- a/src/modules/land_detector/MulticopterLandDetector.cpp
+++ b/src/modules/land_detector/MulticopterLandDetector.cpp
@@ -53,13 +53,11 @@ MulticopterLandDetector::MulticopterLandDetector() : LandDetector(),
 	_actuatorsSub(-1),
 	_armingSub(-1),
 	_parameterSub(-1),
-
 	_vehicleGlobalPosition({}),
 	_sensors({}),
 	_waypoint({}),
 	_actuators({}),
 	_arming({}),
-
 	_landTimer(0)
 {
 	_paramHandle.maxRotation = param_find("LNDMC_Z_VEL_MAX");
@@ -70,7 +68,7 @@ MulticopterLandDetector::MulticopterLandDetector() : LandDetector(),
 
 void MulticopterLandDetector::initialize()
 {
-	//Subscribe to position, attitude, arming and velocity changes
+	// subscribe to position, attitude, arming and velocity changes
 	_vehicleGlobalPositionSub = orb_subscribe(ORB_ID(vehicle_global_position));
 	_sensorsCombinedSub = orb_subscribe(ORB_ID(sensor_combined));
 	_waypointSub = orb_subscribe(ORB_ID(position_setpoint_triplet));
@@ -78,7 +76,7 @@ void MulticopterLandDetector::initialize()
 	_armingSub = orb_subscribe(ORB_ID(actuator_armed));
 	_parameterSub = orb_subscribe(ORB_ID(parameter_update));
 
-	//Download parameters
+	// download parameters
 	updateParameterCache(true);
 }
 
@@ -93,33 +91,33 @@ void MulticopterLandDetector::updateSubscriptions()
 
 bool MulticopterLandDetector::update()
 {
-	//First poll for new data from our subscriptions
+	// first poll for new data from our subscriptions
 	updateSubscriptions();
 
-	//Only trigger flight conditions if we are armed
+	// only trigger flight conditions if we are armed
 	if (!_arming.armed) {
 		return true;
 	}
 
 	const uint64_t now = hrt_absolute_time();
 
-	//Check if we are moving vertically
+	// check if we are moving vertically
 	bool verticalMovement = fabsf(_vehicleGlobalPosition.vel_d) > _params.maxClimbRate;
 
-	//Check if we are moving horizontally
+	// check if we are moving horizontally
 	bool horizontalMovement = sqrtf(_vehicleGlobalPosition.vel_n * _vehicleGlobalPosition.vel_n
 					+ _vehicleGlobalPosition.vel_e * _vehicleGlobalPosition.vel_e) > _params.maxVelocity;
 
-	//Next look if all rotation angles are not moving
+	// next look if all rotation angles are not moving
 	bool rotating = sqrtf(_sensors.gyro_rad_s[0] * _sensors.gyro_rad_s[0] +
 			      _sensors.gyro_rad_s[1] * _sensors.gyro_rad_s[1] +
 			      _sensors.gyro_rad_s[2] * _sensors.gyro_rad_s[2]) > _params.maxRotation;
 
-	//Check if thrust output is minimal (about half of default)
+	// check if thrust output is minimal (about half of default)
 	bool minimalThrust = _actuators.control[3] <= _params.maxThrottle;
 
 	if (verticalMovement || rotating || !minimalThrust || horizontalMovement) {
-		//Sensed movement, so reset the land detector
+		// sensed movement, so reset the land detector
 		_landTimer = now;
 		return false;
 	}