diff options
Diffstat (limited to 'src/modules')
33 files changed, 77 insertions, 65 deletions
diff --git a/src/modules/commander/calibration_routines.cpp b/src/modules/commander/calibration_routines.cpp index 5796204bf..290e83a0b 100644 --- a/src/modules/commander/calibration_routines.cpp +++ b/src/modules/commander/calibration_routines.cpp @@ -45,7 +45,8 @@ int sphere_fit_least_squares(const float x[], const float y[], const float z[], - unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius) + unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, + float *sphere_radius) { float x_sumplain = 0.0f; diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index 8a70cf66e..d4a6d6801 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -245,7 +245,7 @@ int do_gyro_calibration(int mavlink_fd) mavlink_log_critical(mavlink_fd, CAL_FAILED_APPLY_CAL_MSG); } } - + if (failed) { mavlink_and_console_log_critical(mavlink_fd, "ERROR: failed to set offset params"); res = ERROR; @@ -376,7 +376,7 @@ int do_gyro_calibration(int mavlink_fd) } } - #endif +#endif if (res == OK) { /* auto-save to EEPROM */ diff --git a/src/modules/controllib/block/BlockParam.hpp b/src/modules/controllib/block/BlockParam.hpp index a64d0139e..437e43bfb 100644 --- a/src/modules/controllib/block/BlockParam.hpp +++ b/src/modules/controllib/block/BlockParam.hpp @@ -58,7 +58,7 @@ public: * * @param parent_prefix Set to true to include the parent name in the parameter name */ - BlockParamBase(Block *parent, const char *name, bool parent_prefix=true); + BlockParamBase(Block *parent, const char *name, bool parent_prefix = true); virtual ~BlockParamBase() {}; virtual void update() = 0; const char *getName() { return param_name(_handle); } @@ -75,7 +75,7 @@ class BlockParam : public BlockParamBase { public: BlockParam(Block *block, const char *name, - bool parent_prefix=true); + bool parent_prefix = true); T get(); void set(T val); void update(); diff --git a/src/modules/controllib/blocks.hpp b/src/modules/controllib/blocks.hpp index bffc355a8..65600190b 100644 --- a/src/modules/controllib/blocks.hpp +++ b/src/modules/controllib/blocks.hpp @@ -114,7 +114,7 @@ public: // methods BlockLowPass(SuperBlock *parent, const char *name) : Block(parent, name), - _state(0.0f/0.0f /* initialize to invalid val, force into is_finite() check on first call */), + _state(0.0f / 0.0f /* initialize to invalid val, force into is_finite() check on first call */), _fCut(this, "") // only one parameter, no need to name {}; virtual ~BlockLowPass() {}; @@ -492,8 +492,9 @@ public: X = V1 * float(sqrt(-2 * float(log(S)) / S)); - } else + } else { X = V2 * float(sqrt(-2 * float(log(S)) / S)); + } phase = 1 - phase; return X * getStdDev() + getMean(); diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index 6ab3ddbfc..cfc5ae965 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -136,7 +136,8 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f); * @max 2.0 * @group FW Attitude Control */ -PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f); //xxx: set to 0 as default, see comment in ECL_PitchController::control_attitude (float turn_offset = ...) +PARAM_DEFINE_FLOAT(FW_P_ROLLFF, + 0.0f); //xxx: set to 0 as default, see comment in ECL_PitchController::control_attitude (float turn_offset = ...) /** * Roll rate proportional Gain diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index ae6867d38..4c2db0c64 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -65,19 +65,19 @@ public: * Control in altitude setpoint and speed mode */ int updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, - float airspeedSp, tecs_mode mode, LimitOverride limitOverride); + float airspeedSp, tecs_mode mode, LimitOverride limitOverride); /* * Control in flightPathAngle setpoint (flollow a slope etc.) and speed mode */ int updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, - float airspeedSp, tecs_mode mode, LimitOverride limitOverride); + float airspeedSp, tecs_mode mode, LimitOverride limitOverride); /* * Control in flightPathAngle setpoint (flollow a slope etc.) and acceleration mode (base case) */ int updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeedFiltered, - float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride); + float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride); /* * Reset all integrators diff --git a/src/modules/gpio_led/gpio_led.c b/src/modules/gpio_led/gpio_led.c index b759b429e..2ff3fc276 100644 --- a/src/modules/gpio_led/gpio_led.c +++ b/src/modules/gpio_led/gpio_led.c @@ -184,11 +184,13 @@ int gpio_led_main(int argc, char *argv[]) warnx("start, using pin: %s", pin_name); exit(0); } + } else if (!strcmp(argv[1], "stop")) { if (gpio_led_started) { gpio_led_started = false; warnx("stop"); exit(0); + } else { errx(1, "not running"); } diff --git a/src/modules/land_detector/LandDetector.cpp b/src/modules/land_detector/LandDetector.cpp index a4fbb9861..7c830fc07 100644 --- a/src/modules/land_detector/LandDetector.cpp +++ b/src/modules/land_detector/LandDetector.cpp @@ -46,8 +46,8 @@ LandDetector::LandDetector() : _landDetectedPub(-1), _landDetected({0, false}), - _taskShouldExit(false), - _taskIsRunning(false) + _taskShouldExit(false), + _taskIsRunning(false) { // ctor } diff --git a/src/modules/land_detector/MulticopterLandDetector.h b/src/modules/land_detector/MulticopterLandDetector.h index 70df91f43..8c57416b5 100644 --- a/src/modules/land_detector/MulticopterLandDetector.h +++ b/src/modules/land_detector/MulticopterLandDetector.h @@ -102,13 +102,13 @@ private: int _actuatorsSub; int _armingSub; int _parameterSub; - int _attitudeSub; + int _attitudeSub; struct vehicle_global_position_s _vehicleGlobalPosition; /**< the result from global position subscription */ struct vehicle_status_s _vehicleStatus; struct actuator_controls_s _actuators; struct actuator_armed_s _arming; - struct vehicle_attitude_s _vehicleAttitude; + struct vehicle_attitude_s _vehicleAttitude; uint64_t _landTimer; /**< timestamp in microseconds since a possible land was detected*/ }; diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index b510dbbb7..1d214b948 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -188,6 +188,6 @@ private: uint64_t _time_offset; /* do not allow copying this class */ - MavlinkReceiver(const MavlinkReceiver&); - MavlinkReceiver operator=(const MavlinkReceiver&); + MavlinkReceiver(const MavlinkReceiver &); + MavlinkReceiver operator=(const MavlinkReceiver &); }; diff --git a/src/modules/mavlink/mavlink_stream.h b/src/modules/mavlink/mavlink_stream.h index ef22dc443..5e39bbbdf 100644 --- a/src/modules/mavlink/mavlink_stream.h +++ b/src/modules/mavlink/mavlink_stream.h @@ -89,7 +89,7 @@ public: virtual unsigned get_size() = 0; protected: - Mavlink * _mavlink; + Mavlink *_mavlink; unsigned int _interval; virtual void send(const hrt_abstime t) = 0; @@ -98,8 +98,8 @@ private: hrt_abstime _last_sent; /* do not allow top copying this class */ - MavlinkStream(const MavlinkStream&); - MavlinkStream& operator=(const MavlinkStream&); + MavlinkStream(const MavlinkStream &); + MavlinkStream &operator=(const MavlinkStream &); }; diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control.h b/src/modules/mc_att_control_multiplatform/mc_att_control.h index 52ba369c1..1242c7fe3 100644 --- a/src/modules/mc_att_control_multiplatform/mc_att_control.h +++ b/src/modules/mc_att_control_multiplatform/mc_att_control.h @@ -88,9 +88,9 @@ private: bool _task_should_exit; /**< if true, sensor task should exit */ bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */ - px4::Publisher<px4_vehicle_attitude_setpoint> * _att_sp_pub; /**< attitude setpoint publication */ - px4::Publisher<px4_vehicle_rates_setpoint> * _v_rates_sp_pub; /**< rate setpoint publication */ - px4::Publisher<px4_actuator_controls_0> * _actuators_0_pub; /**< attitude actuator controls publication */ + px4::Publisher<px4_vehicle_attitude_setpoint> *_att_sp_pub; /**< attitude setpoint publication */ + px4::Publisher<px4_vehicle_rates_setpoint> *_v_rates_sp_pub; /**< rate setpoint publication */ + px4::Publisher<px4_actuator_controls_0> *_actuators_0_pub; /**< attitude actuator controls publication */ px4::NodeHandle _n; diff --git a/src/modules/navigator/mission_block.h b/src/modules/navigator/mission_block.h index adf50bc39..ec3e30582 100644 --- a/src/modules/navigator/mission_block.h +++ b/src/modules/navigator/mission_block.h @@ -83,9 +83,9 @@ protected: */ void mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp); - /** - * Set previous position setpoint to current setpoint - */ + /** + * Set previous position setpoint to current setpoint + */ void set_previous_pos_setpoint(); /** diff --git a/src/modules/navigator/mission_feasibility_checker.h b/src/modules/navigator/mission_feasibility_checker.h index 96c9209d3..9a77a6dc2 100644 --- a/src/modules/navigator/mission_feasibility_checker.h +++ b/src/modules/navigator/mission_feasibility_checker.h @@ -78,7 +78,8 @@ public: /* * Returns true if mission is feasible and false otherwise */ - bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt); + bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, + float home_alt); }; diff --git a/src/modules/navigator/navigator_mode.cpp b/src/modules/navigator/navigator_mode.cpp index 2f322031c..f7ccda0cb 100644 --- a/src/modules/navigator/navigator_mode.cpp +++ b/src/modules/navigator/navigator_mode.cpp @@ -58,7 +58,8 @@ NavigatorMode::~NavigatorMode() } void -NavigatorMode::run(bool active) { +NavigatorMode::run(bool active) +{ if (active) { if (_first_run) { /* first run */ diff --git a/src/modules/navigator/navigator_mode.h b/src/modules/navigator/navigator_mode.h index de5545dcb..0839d9be6 100644 --- a/src/modules/navigator/navigator_mode.h +++ b/src/modules/navigator/navigator_mode.h @@ -92,8 +92,8 @@ private: /* this class has ptr data members, so it should not be copied, * consequently the copy constructors are private. */ - NavigatorMode(const NavigatorMode&); - NavigatorMode operator=(const NavigatorMode&); + NavigatorMode(const NavigatorMode &); + NavigatorMode operator=(const NavigatorMode &); }; #endif diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 93a33490f..8192c5b50 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -219,7 +219,8 @@ extern int dsm_init(const char *device); extern bool dsm_input(uint16_t *values, uint16_t *num_values, uint8_t *n_bytes, uint8_t **bytes); extern void dsm_bind(uint16_t cmd, int pulses); extern int sbus_init(const char *device); -extern bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels); +extern bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, + uint16_t max_channels); extern void sbus1_output(uint16_t *values, uint16_t num_values); extern void sbus2_output(uint16_t *values, uint16_t num_values); diff --git a/src/modules/systemlib/cpuload.c b/src/modules/systemlib/cpuload.c index 7aa2f3a5f..b41896abd 100644 --- a/src/modules/systemlib/cpuload.c +++ b/src/modules/systemlib/cpuload.c @@ -97,7 +97,8 @@ void cpuload_initialize_once() system_load.tasks[system_load.total_count].start_time = now; system_load.tasks[system_load.total_count].total_runtime = 0; system_load.tasks[system_load.total_count].curr_start_time = 0; - system_load.tasks[system_load.total_count].tcb = sched_gettcb(system_load.total_count); // it is assumed that these static threads have consecutive PIDs + system_load.tasks[system_load.total_count].tcb = sched_gettcb( + system_load.total_count); // it is assumed that these static threads have consecutive PIDs system_load.tasks[system_load.total_count].valid = true; } } diff --git a/src/modules/systemlib/hx_stream.h b/src/modules/systemlib/hx_stream.h index 1f3927222..b674f192d 100644 --- a/src/modules/systemlib/hx_stream.h +++ b/src/modules/systemlib/hx_stream.h @@ -103,7 +103,7 @@ __EXPORT extern void hx_stream_reset(hx_stream_t stream); /** * Prepare to send a frame. * - * Use this in conjunction with hx_stream_send_next to + * Use this in conjunction with hx_stream_send_next to * set the frame to be transmitted. * * Use hx_stream_send() to write to the stream fd directly. @@ -124,7 +124,7 @@ __EXPORT extern int hx_stream_start(hx_stream_t stream, * calling hx_stream_start first. * * @param stream A handle returned from hx_stream_init. - * @return The byte to send, or -1 if there is + * @return The byte to send, or -1 if there is * nothing left to send. */ __EXPORT extern int hx_stream_send_next(hx_stream_t stream); diff --git a/src/modules/systemlib/mcu_version.h b/src/modules/systemlib/mcu_version.h index e951e1e39..f40ac069e 100644 --- a/src/modules/systemlib/mcu_version.h +++ b/src/modules/systemlib/mcu_version.h @@ -50,7 +50,7 @@ enum MCU_REV { /** * Reports the microcontroller unique id. * - * This ID is guaranteed to be unique for every mcu. + * This ID is guaranteed to be unique for every mcu. * @param uid_96_bit A uint32_t[3] array to copy the data to. */ __EXPORT void mcu_unique_id(uint32_t *uid_96_bit); @@ -62,6 +62,6 @@ __EXPORT void mcu_unique_id(uint32_t *uid_96_bit); * @param revstr The full chip name string * @return The silicon revision / version number as integer */ -__EXPORT int mcu_version(char* rev, char** revstr); +__EXPORT int mcu_version(char *rev, char **revstr); __END_DECLS diff --git a/src/modules/systemlib/mixer/mixer_group.cpp b/src/modules/systemlib/mixer/mixer_group.cpp index 3ed99fba0..4220b168d 100644 --- a/src/modules/systemlib/mixer/mixer_group.cpp +++ b/src/modules/systemlib/mixer/mixer_group.cpp @@ -76,8 +76,9 @@ MixerGroup::add_mixer(Mixer *mixer) mpp = &_first; - while (*mpp != nullptr) + while (*mpp != nullptr) { mpp = &((*mpp)->_next); + } *mpp = mixer; mixer->_next = nullptr; @@ -185,6 +186,7 @@ MixerGroup::load_from_buf(const char *buf, unsigned &buflen) /* only adjust buflen if parsing was successful */ buflen = resid; debug("SUCCESS - buflen: %d", buflen); + } else { /* diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.h b/src/modules/systemlib/pwm_limit/pwm_limit.h index 6a667ac6f..6ec9f4b7e 100644 --- a/src/modules/systemlib/pwm_limit/pwm_limit.h +++ b/src/modules/systemlib/pwm_limit/pwm_limit.h @@ -72,7 +72,8 @@ typedef struct { __EXPORT void pwm_limit_init(pwm_limit_t *limit); -__EXPORT void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, const float *output, uint16_t *effective_pwm, pwm_limit_t *limit); +__EXPORT void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm, + const uint16_t *min_pwm, const uint16_t *max_pwm, const float *output, uint16_t *effective_pwm, pwm_limit_t *limit); __END_DECLS diff --git a/src/modules/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c index 82183b0d7..280c30023 100644 --- a/src/modules/systemlib/systemlib.c +++ b/src/modules/systemlib/systemlib.c @@ -66,10 +66,11 @@ systemreset(bool to_bootloader) /* XXX wow, this is evil - write a magic number into backup register zero */ *(uint32_t *)0x40002850 = 0xb007b007; } + up_systemreset(); /* lock up here */ - while(true); + while (true); } static void kill_task(FAR struct tcb_s *tcb, FAR void *arg); @@ -87,7 +88,7 @@ static void kill_task(FAR struct tcb_s *tcb, FAR void *arg) kill(tcb->pid, SIGUSR1); } -int task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, char * const argv[]) +int task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, char *const argv[]) { int pid; diff --git a/src/modules/uORB/topics/geofence_result.h b/src/modules/uORB/topics/geofence_result.h index b07e04499..8d32dfc0a 100644 --- a/src/modules/uORB/topics/geofence_result.h +++ b/src/modules/uORB/topics/geofence_result.h @@ -50,8 +50,7 @@ * @{ */ -struct geofence_result_s -{ +struct geofence_result_s { bool geofence_violated; /**< true if the geofence is violated */ }; diff --git a/src/modules/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h index d747b5f43..02e17cdd7 100644 --- a/src/modules/uORB/topics/home_position.h +++ b/src/modules/uORB/topics/home_position.h @@ -55,8 +55,7 @@ /** * GPS home position in WGS84 coordinates. */ -struct home_position_s -{ +struct home_position_s { uint64_t timestamp; /**< Timestamp (microseconds since system boot) */ double lat; /**< Latitude in degrees */ diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h index 2ddc529a3..16e7f2f12 100644 --- a/src/modules/uORB/topics/mission_result.h +++ b/src/modules/uORB/topics/mission_result.h @@ -53,8 +53,7 @@ * @{ */ -struct mission_result_s -{ +struct mission_result_s { unsigned seq_reached; /**< Sequence of the mission item which has been reached */ unsigned seq_current; /**< Sequence of the current mission item */ bool reached; /**< true if mission has been reached */ diff --git a/src/modules/uORB/topics/tecs_status.h b/src/modules/uORB/topics/tecs_status.h index ddca19d61..3c858901c 100644 --- a/src/modules/uORB/topics/tecs_status.h +++ b/src/modules/uORB/topics/tecs_status.h @@ -60,9 +60,9 @@ typedef enum { TECS_MODE_CLIMBOUT } tecs_mode; - /** - * Internal values of the (m)TECS fixed wing speed alnd altitude control system - */ +/** +* Internal values of the (m)TECS fixed wing speed alnd altitude control system +*/ struct tecs_status_s { uint64_t timestamp; /**< timestamp, in microseconds since system start */ diff --git a/src/modules/uORB/uORB.h b/src/modules/uORB/uORB.h index b54f0322b..44dc6614f 100644 --- a/src/modules/uORB/uORB.h +++ b/src/modules/uORB/uORB.h @@ -166,7 +166,7 @@ extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *d * node in /obj if required and publishes the initial data. * * Any number of advertisers may publish to a topic; publications are atomic - * but co-ordination between publishers is not provided by the ORB. + * but co-ordination between publishers is not provided by the ORB. * * @param meta The uORB metadata (usually from the ORB_ID() macro) * for the topic. @@ -184,7 +184,8 @@ extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *d * ORB_DEFINE with no corresponding ORB_DECLARE) * this function will return -1 and set errno to ENOENT. */ -extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance, int priority) __EXPORT; +extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance, + int priority) __EXPORT; /** diff --git a/src/modules/uavcan/sensors/baro.hpp b/src/modules/uavcan/sensors/baro.hpp index c7bbc5af8..16cd476ea 100644 --- a/src/modules/uavcan/sensors/baro.hpp +++ b/src/modules/uavcan/sensors/baro.hpp @@ -47,7 +47,7 @@ class UavcanBarometerBridge : public UavcanCDevSensorBridgeBase public: static const char *const NAME; - UavcanBarometerBridge(uavcan::INode& node); + UavcanBarometerBridge(uavcan::INode &node); const char *get_name() const override { return NAME; } @@ -58,9 +58,9 @@ private: void air_data_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData> &msg); - typedef uavcan::MethodBinder<UavcanBarometerBridge*, + typedef uavcan::MethodBinder < UavcanBarometerBridge *, void (UavcanBarometerBridge::*) - (const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData>&)> + (const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData> &) > AirDataCbBinder; uavcan::Subscriber<uavcan::equipment::air_data::StaticAirData, AirDataCbBinder> _sub_air_data; diff --git a/src/modules/uavcan/sensors/gnss.hpp b/src/modules/uavcan/sensors/gnss.hpp index 96ff9404f..4b94d9306 100644 --- a/src/modules/uavcan/sensors/gnss.hpp +++ b/src/modules/uavcan/sensors/gnss.hpp @@ -56,7 +56,7 @@ class UavcanGnssBridge : public IUavcanSensorBridge public: static const char *const NAME; - UavcanGnssBridge(uavcan::INode& node); + UavcanGnssBridge(uavcan::INode &node); const char *get_name() const override { return NAME; } @@ -72,8 +72,8 @@ private: */ void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg); - typedef uavcan::MethodBinder<UavcanGnssBridge*, - void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>&)> + typedef uavcan::MethodBinder < UavcanGnssBridge *, + void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &) > FixCbBinder; uavcan::INode &_node; diff --git a/src/modules/uavcan/sensors/mag.hpp b/src/modules/uavcan/sensors/mag.hpp index db38aee1d..b74afeb0b 100644 --- a/src/modules/uavcan/sensors/mag.hpp +++ b/src/modules/uavcan/sensors/mag.hpp @@ -47,7 +47,7 @@ class UavcanMagnetometerBridge : public UavcanCDevSensorBridgeBase public: static const char *const NAME; - UavcanMagnetometerBridge(uavcan::INode& node); + UavcanMagnetometerBridge(uavcan::INode &node); const char *get_name() const override { return NAME; } @@ -59,9 +59,9 @@ private: void mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg); - typedef uavcan::MethodBinder<UavcanMagnetometerBridge*, + typedef uavcan::MethodBinder < UavcanMagnetometerBridge *, void (UavcanMagnetometerBridge::*) - (const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer>&)> + (const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &) > MagCbBinder; uavcan::Subscriber<uavcan::equipment::ahrs::Magnetometer, MagCbBinder> _sub_mag; diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp index 19b9b4b48..96b3ec1a6 100644 --- a/src/modules/uavcan/uavcan_main.hpp +++ b/src/modules/uavcan/uavcan_main.hpp @@ -82,7 +82,7 @@ public: static int start(uavcan::NodeID node_id, uint32_t bitrate); - Node& get_node() { return _node; } + Node &get_node() { return _node; } // TODO: move the actuator mixing stuff into the ESC controller class static int control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input); @@ -94,7 +94,7 @@ public: void print_info(); - static UavcanNode* instance() { return _instance; } + static UavcanNode *instance() { return _instance; } private: void fill_node_info(); @@ -122,7 +122,7 @@ private: UavcanEscController _esc_controller; - List<IUavcanSensorBridge*> _sensor_bridges; ///< List of active sensor bridges + List<IUavcanSensorBridge *> _sensor_bridges; ///< List of active sensor bridges MixerGroup *_mixers = nullptr; diff --git a/src/modules/unit_test/unit_test.cpp b/src/modules/unit_test/unit_test.cpp index b7568ce3a..c45d7888a 100644 --- a/src/modules/unit_test/unit_test.cpp +++ b/src/modules/unit_test/unit_test.cpp @@ -57,13 +57,14 @@ void UnitTest::print_results(void) } /// @brief Used internally to the ut_assert macro to print assert failures. -void UnitTest::_print_assert(const char* msg, const char* test, const char* file, int line) +void UnitTest::_print_assert(const char *msg, const char *test, const char *file, int line) { warnx("Assertion failed: %s - %s (%s:%d)", msg, test, file, line); } /// @brief Used internally to the ut_compare macro to print assert failures. -void UnitTest::_print_compare(const char* msg, const char *v1_text, int v1, const char *v2_text, int v2, const char* file, int line) +void UnitTest::_print_compare(const char *msg, const char *v1_text, int v1, const char *v2_text, int v2, + const char *file, int line) { warnx("Compare failed: %s - (%s:%d) (%s:%d) (%s:%d)", msg, v1_text, v1, v2_text, v2, file, line); } |