code style, warnings

3 files changed, 19 insertions, 22 deletions

diff --git a/src/modules/uavcan/actuators/esc.cpp b/src/modules/uavcan/actuators/esc.cpp
index fbd4f0bcd..1d23099f3 100644
--- a/src/modules/uavcan/actuators/esc.cpp
+++ b/src/modules/uavcan/actuators/esc.cpp
@@ -113,8 +113,7 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
 			msg.cmd.push_back(static_cast<int>(scaled));
 
 			_esc_status.esc[i].esc_setpoint_raw = abs(static_cast<int>(scaled));
-		}
-		else {
+		} else {
 			msg.cmd.push_back(static_cast<unsigned>(0));
 		}
 	}
@@ -128,18 +127,20 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
 
 void UavcanEscController::arm_all_escs(bool arm)
 {
-	if (arm)
+	if (arm) {
 		_armed_mask = -1;
-	else
+	} else {
 		_armed_mask = 0;
+	}
 }
 
 void UavcanEscController::arm_single_esc(int num, bool arm)
 {
-	if (arm)
+	if (arm) {
 		_armed_mask = MOTOR_BIT(num);
-	else
+	} else {
 		_armed_mask = 0;
+	}
 }
 
 void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index 653d4f98c..2c543462e 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -346,13 +346,12 @@ int UavcanNode::run()
 
 			// can we mix?
 			if (_test_in_progress) {
-				float outputs[NUM_ACTUATOR_OUTPUTS] = {};
-				outputs[_test_motor.motor_number] = _test_motor.value*2.0f-1.0f;
+				float test_outputs[NUM_ACTUATOR_OUTPUTS] = {};
+				test_outputs[_test_motor.motor_number] = _test_motor.value*2.0f-1.0f;
 
 				// Output to the bus
-				_esc_controller.update_outputs(outputs, NUM_ACTUATOR_OUTPUTS);
-			}
-			else if (controls_updated && (_mixers != nullptr)) {
+				_esc_controller.update_outputs(test_outputs, NUM_ACTUATOR_OUTPUTS);
+			} else if (controls_updated && (_mixers != nullptr)) {
 
 				// XXX one output group has 8 outputs max,
 				// but this driver could well serve multiple groups.
diff --git a/src/systemcmds/motor_test/motor_test.c b/src/systemcmds/motor_test/motor_test.c
index 079f99674..087699b05 100644
--- a/src/systemcmds/motor_test/motor_test.c
+++ b/src/systemcmds/motor_test/motor_test.c
@@ -67,19 +67,15 @@ void motor_test(unsigned channel, float value)
 	_test_motor.timestamp = hrt_absolute_time();
 	_test_motor.value = value;
 
-        if (_test_motor_pub > 0) {
-	    /* publish armed state */
-            orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor);
-        } else {
-            /* advertise and publish */
-            _test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor);
-        }
+        _test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor);
+        orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor);
 }
 
 static void usage(const char *reason)
 {
-	if (reason != NULL)
+	if (reason != NULL) {
 		warnx("%s", reason);
+	}
 
 	errx(1,
 		"usage:\n"
@@ -90,8 +86,9 @@ static void usage(const char *reason)
 
 int motor_test_main(int argc, char *argv[])
 {
-	unsigned long channel, lval;
-	float value;
+	unsigned long channel = 0;
+	unsigned long lval;
+	float value = 0.0f;
 	int ch;
 
 	if (argc != 5) {
@@ -122,7 +119,7 @@ int motor_test_main(int argc, char *argv[])
 
 	motor_test(channel, value);
 
-	printf("motor %d set to %.2f\n", channel, value);
+	printf("motor %d set to %.2f\n", channel, (double)value);
 
 	exit(0);
 }