1 files changed, 45 insertions, 44 deletions

diff --git a/src/modules/land_detector/LandDetector.cpp b/src/modules/land_detector/LandDetector.cpp
index a39e53818..5029ce185 100644
--- a/src/modules/land_detector/LandDetector.cpp
+++ b/src/modules/land_detector/LandDetector.cpp
@@ -3,75 +3,76 @@
 #include <drivers/drv_hrt.h>
 
 LandDetector::LandDetector() :
-    _landDetectedPub(-1),
-    _landDetected({0, false}),
-    _taskShouldExit(false),
-    _taskIsRunning(false)
+	_landDetectedPub(-1),
+	_landDetected({0, false}),
+	_taskShouldExit(false),
+	_taskIsRunning(false)
 {
-    //Advertise the first land detected uORB
-    _landDetected.timestamp = hrt_absolute_time();
-    _landDetected.landed = false;
-    _landDetectedPub = orb_advertise(ORB_ID(vehicle_land_detected), &_landDetected);
+	//Advertise the first land detected uORB
+	_landDetected.timestamp = hrt_absolute_time();
+	_landDetected.landed = false;
+	_landDetectedPub = orb_advertise(ORB_ID(vehicle_land_detected), &_landDetected);
 }
 
 LandDetector::~LandDetector()
 {
-    _taskShouldExit = true;
-    close(_landDetectedPub);
+	_taskShouldExit = true;
+	close(_landDetectedPub);
 }
 
 void LandDetector::shutdown()
 {
-    _taskShouldExit = true;
+	_taskShouldExit = true;
 }
 
 void LandDetector::start()
 {
-    //Make sure this method has not already been called by another thread
-    if(isRunning()) {
-        return;
-    }
+	//Make sure this method has not already been called by another thread
+	if (isRunning()) {
+		return;
+	}
 
-    //Task is now running, keep doing so until shutdown() has been called
-    _taskIsRunning = true;
-    _taskShouldExit = false;
-    while(isRunning()) {
+	//Task is now running, keep doing so until shutdown() has been called
+	_taskIsRunning = true;
+	_taskShouldExit = false;
 
-        bool landDetected = update();
+	while (isRunning()) {
 
-        //Publish if land detection state has changed
-        if (_landDetected.landed != landDetected) {
-            _landDetected.timestamp = hrt_absolute_time();
-            _landDetected.landed = landDetected;
+		bool landDetected = update();
 
-            /* publish the land detected broadcast */
-            orb_publish(ORB_ID(vehicle_land_detected), _landDetectedPub, &_landDetected);
-        }
+		//Publish if land detection state has changed
+		if (_landDetected.landed != landDetected) {
+			_landDetected.timestamp = hrt_absolute_time();
+			_landDetected.landed = landDetected;
 
-        //Limit loop rate
-        usleep(1000000 / LAND_DETECTOR_UPDATE_RATE);
-    }
+			/* publish the land detected broadcast */
+			orb_publish(ORB_ID(vehicle_land_detected), _landDetectedPub, &_landDetected);
+		}
 
-    _taskIsRunning = false;
-    _exit(0);    
+		//Limit loop rate
+		usleep(1000000 / LAND_DETECTOR_UPDATE_RATE);
+	}
+
+	_taskIsRunning = false;
+	_exit(0);
 }
 
 bool LandDetector::orb_update(const struct orb_metadata *meta, int handle, void *buffer)
 {
-    bool newData = false;
+	bool newData = false;
 
-    //Check if there is new data to grab
-    if (orb_check(handle, &newData) != OK) {
-        return false;
-    }
+	//Check if there is new data to grab
+	if (orb_check(handle, &newData) != OK) {
+		return false;
+	}
 
-    if (!newData) {
-        return false;
-    }
+	if (!newData) {
+		return false;
+	}
 
-    if (orb_copy(meta, handle, buffer) != OK) {
-        return false;
-    }
+	if (orb_copy(meta, handle, buffer) != OK) {
+		return false;
+	}
 
-    return true;
+	return true;
 }