diff options
Diffstat (limited to 'src')
37 files changed, 38 insertions, 33 deletions
diff --git a/src/drivers/boards/aerocore/board_config.h b/src/drivers/boards/aerocore/board_config.h index 776a2071e..19518d73d 100644 --- a/src/drivers/boards/aerocore/board_config.h +++ b/src/drivers/boards/aerocore/board_config.h @@ -54,7 +54,7 @@ __BEGIN_DECLS #include <arch/board/board.h> #define UDID_START 0x1FFF7A10 - + /**************************************************************************************************** * Definitions ****************************************************************************************************/ diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h index 882ec6aa2..17fa9c542 100644 --- a/src/drivers/boards/px4fmu-v1/board_config.h +++ b/src/drivers/boards/px4fmu-v1/board_config.h @@ -52,7 +52,7 @@ __BEGIN_DECLS /* these headers are not C++ safe */ #include <stm32.h> #include <arch/board/board.h> - + /**************************************************************************************************** * Definitions ****************************************************************************************************/ diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h index 273af1023..6188e29ae 100644 --- a/src/drivers/boards/px4fmu-v2/board_config.h +++ b/src/drivers/boards/px4fmu-v2/board_config.h @@ -54,7 +54,7 @@ __BEGIN_DECLS #include <arch/board/board.h> #define UDID_START 0x1FFF7A10 - + /**************************************************************************************************** * Definitions ****************************************************************************************************/ diff --git a/src/drivers/boards/px4io-v1/px4io_init.c b/src/drivers/boards/px4io-v1/px4io_init.c index 8292da9e1..5a02a9716 100644 --- a/src/drivers/boards/px4io-v1/px4io_init.c +++ b/src/drivers/boards/px4io-v1/px4io_init.c @@ -87,7 +87,7 @@ __EXPORT void stm32_boardinitialize(void) stm32_configgpio(GPIO_RELAY1_EN); stm32_configgpio(GPIO_RELAY2_EN); - /* turn off - all leds are active low */ + /* turn off - all leds are active low */ stm32_gpiowrite(GPIO_LED1, true); stm32_gpiowrite(GPIO_LED2, true); stm32_gpiowrite(GPIO_LED3, true); diff --git a/src/drivers/boards/px4io-v2/px4iov2_init.c b/src/drivers/boards/px4io-v2/px4iov2_init.c index 5c3343ccc..fd7eb33c3 100644 --- a/src/drivers/boards/px4io-v2/px4iov2_init.c +++ b/src/drivers/boards/px4io-v2/px4iov2_init.c @@ -126,7 +126,7 @@ __EXPORT void stm32_boardinitialize(void) stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */ stm32_configgpio(GPIO_SBUS_OUTPUT); - + /* sbus output enable is active low - disable it by default */ stm32_gpiowrite(GPIO_SBUS_OENABLE, true); stm32_configgpio(GPIO_SBUS_OENABLE); diff --git a/src/drivers/drv_airspeed.h b/src/drivers/drv_airspeed.h index 2ff91d5d0..fddef3626 100644 --- a/src/drivers/drv_airspeed.h +++ b/src/drivers/drv_airspeed.h @@ -35,7 +35,7 @@ * @file drv_airspeed.h * * Airspeed driver interface. - * + * * @author Simon Wilks */ diff --git a/src/drivers/drv_blinkm.h b/src/drivers/drv_blinkm.h index 7258c9e84..8568436d3 100644 --- a/src/drivers/drv_blinkm.h +++ b/src/drivers/drv_blinkm.h @@ -60,7 +60,7 @@ /** play the numbered script in (arg), repeating forever */ #define BLINKM_PLAY_SCRIPT _BLINKMIOC(2) -/** +/** * Set the user script; (arg) is a pointer to an array of script lines, * where each line is an array of four bytes giving <duration>, <command>, arg[0-2] * diff --git a/src/drivers/drv_orb_dev.h b/src/drivers/drv_orb_dev.h index e0b16fa5c..c1db6b534 100644 --- a/src/drivers/drv_orb_dev.h +++ b/src/drivers/drv_orb_dev.h @@ -36,7 +36,7 @@ /** * @file drv_orb_dev.h - * + * * uORB published object driver. */ diff --git a/src/drivers/drv_oreoled.h b/src/drivers/drv_oreoled.h index 0dcb10a7b..00e368318 100644 --- a/src/drivers/drv_oreoled.h +++ b/src/drivers/drv_oreoled.h @@ -117,7 +117,7 @@ enum oreoled_macro { OREOLED_PARAM_MACRO_ENUM_COUNT }; -/* +/* structure passed to OREOLED_SET_RGB ioctl() Note that the driver scales the brightness to 0 to 255, regardless of the hardware scaling diff --git a/src/drivers/drv_pwm_input.h b/src/drivers/drv_pwm_input.h index 778d9fcf5..47b84e6e1 100644 --- a/src/drivers/drv_pwm_input.h +++ b/src/drivers/drv_pwm_input.h @@ -46,6 +46,6 @@ __BEGIN_DECLS /* * Initialise the timer */ -__EXPORT extern int pwm_input_main(int argc, char * argv[]); +__EXPORT extern int pwm_input_main(int argc, char *argv[]); __END_DECLS diff --git a/src/drivers/hmc5883/hmc5883.h b/src/drivers/hmc5883/hmc5883.h index e91e91fc0..9607fe614 100644 --- a/src/drivers/hmc5883/hmc5883.h +++ b/src/drivers/hmc5883/hmc5883.h @@ -50,4 +50,4 @@ /* interface factories */ extern device::Device *HMC5883_SPI_interface(int bus) weak_function; extern device::Device *HMC5883_I2C_interface(int bus) weak_function; -typedef device::Device* (*HMC5883_constructor)(int); +typedef device::Device *(*HMC5883_constructor)(int); diff --git a/src/drivers/ms5611/ms5611.h b/src/drivers/ms5611/ms5611.h index c8211b8dd..c946e38cb 100644 --- a/src/drivers/ms5611/ms5611.h +++ b/src/drivers/ms5611/ms5611.h @@ -82,4 +82,4 @@ extern bool crc4(uint16_t *n_prom); /* interface factories */ extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, uint8_t busnum) weak_function; extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint8_t busnum) weak_function; -typedef device::Device* (*MS5611_constructor)(ms5611::prom_u &prom_buf, uint8_t busnum); +typedef device::Device *(*MS5611_constructor)(ms5611::prom_u &prom_buf, uint8_t busnum); diff --git a/src/examples/fixedwing_control/params.c b/src/examples/fixedwing_control/params.c index c2e94ff3d..fbbd30201 100644 --- a/src/examples/fixedwing_control/params.c +++ b/src/examples/fixedwing_control/params.c @@ -34,7 +34,7 @@ /* * @file params.c - * + * * Parameters for fixedwing demo */ diff --git a/src/examples/fixedwing_control/params.h b/src/examples/fixedwing_control/params.h index 4ae8e90ec..49ffff446 100644 --- a/src/examples/fixedwing_control/params.h +++ b/src/examples/fixedwing_control/params.h @@ -34,7 +34,7 @@ /* * @file params.h - * + * * Definition of parameters for fixedwing example */ diff --git a/src/examples/flow_position_estimator/flow_position_estimator_params.c b/src/examples/flow_position_estimator/flow_position_estimator_params.c index ec3c3352d..b56579787 100644 --- a/src/examples/flow_position_estimator/flow_position_estimator_params.c +++ b/src/examples/flow_position_estimator/flow_position_estimator_params.c @@ -35,7 +35,7 @@ /* * @file flow_position_estimator_params.c - * + * * Parameters for position estimator */ diff --git a/src/examples/flow_position_estimator/flow_position_estimator_params.h b/src/examples/flow_position_estimator/flow_position_estimator_params.h index f9a9bb303..3ab4e560f 100644 --- a/src/examples/flow_position_estimator/flow_position_estimator_params.h +++ b/src/examples/flow_position_estimator/flow_position_estimator_params.h @@ -35,7 +35,7 @@ /* * @file flow_position_estimator_params.h - * + * * Parameters for position estimator */ diff --git a/src/lib/conversion/rotation.h b/src/lib/conversion/rotation.h index 917c7f830..13fe701df 100644 --- a/src/lib/conversion/rotation.h +++ b/src/lib/conversion/rotation.h @@ -118,7 +118,7 @@ const rot_lookup_t rot_lookup[] = { * Get the rotation matrix */ __EXPORT void -get_rot_matrix(enum Rotation rot, math::Matrix<3,3> *rot_matrix); +get_rot_matrix(enum Rotation rot, math::Matrix<3, 3> *rot_matrix); /** diff --git a/src/lib/launchdetection/LaunchDetector.h b/src/lib/launchdetection/LaunchDetector.h index 4215b49d2..3b276c556 100644 --- a/src/lib/launchdetection/LaunchDetector.h +++ b/src/lib/launchdetection/LaunchDetector.h @@ -76,7 +76,7 @@ private: method is checked for further adavancing in the state machine (e.g. when to power up the motors) */ - LaunchMethod* launchMethods[1]; + LaunchMethod *launchMethods[1]; control::BlockParamInt launchdetection_on; control::BlockParamFloat throttlePreTakeoff; diff --git a/src/lib/rc/st24.h b/src/lib/rc/st24.h index 454234601..0cf732824 100644 --- a/src/lib/rc/st24.h +++ b/src/lib/rc/st24.h @@ -158,6 +158,6 @@ uint8_t st24_common_crc8(uint8_t *ptr, uint8_t len); * @return 0 for success (a decoded packet), 1 for no packet yet (accumulating), 2 for unknown packet, 3 for out of sync, 4 for checksum error */ __EXPORT int st24_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count, - uint16_t *channels, uint16_t max_chan_count); + uint16_t *channels, uint16_t max_chan_count); __END_DECLS diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 5637ec102..e143f37b9 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -177,6 +177,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru for (int i = 0; i < 3; i++) { param_get(h->moment_inertia_J[i], &(p->moment_inertia_J[3 * i + i])); } + param_get(h->use_moment_inertia, &(p->use_moment_inertia)); return OK; diff --git a/src/modules/commander/calibration_routines.h b/src/modules/commander/calibration_routines.h index 3c8e49ee9..ba4ca07cc 100644 --- a/src/modules/commander/calibration_routines.h +++ b/src/modules/commander/calibration_routines.h @@ -57,4 +57,5 @@ * @return 0 on success, 1 on failure */ 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);
\ No newline at end of file + unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, + float *sphere_radius);
\ No newline at end of file diff --git a/src/modules/fixedwing_backside/params.c b/src/modules/fixedwing_backside/params.c index db30af416..aa82a4f59 100644 --- a/src/modules/fixedwing_backside/params.c +++ b/src/modules/fixedwing_backside/params.c @@ -57,7 +57,7 @@ PARAM_DEFINE_FLOAT(FWB_V_CMD, 12.0f); // commanded velocity PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f); // maximum commanded velocity // rate of climb -// this is what rate of climb is commanded (in m/s) +// this is what rate of climb is commanded (in m/s) // when the pitch stick is fully defelcted in simple mode PARAM_DEFINE_FLOAT(FWB_CR_MAX, 1.0f); diff --git a/src/modules/mavlink/mavlink_stream.cpp b/src/modules/mavlink/mavlink_stream.cpp index 5b9e45d3e..57a92c8b5 100644 --- a/src/modules/mavlink/mavlink_stream.cpp +++ b/src/modules/mavlink/mavlink_stream.cpp @@ -80,6 +80,7 @@ MavlinkStream::update(const hrt_abstime t) if (dt > 0 && dt >= interval) { /* interval expired, send message */ send(t); + if (const_rate()) { _last_sent = (t / _interval) * _interval; diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h index 9d647cb68..37a41b68a 100644 --- a/src/modules/navigator/geofence.h +++ b/src/modules/navigator/geofence.h @@ -76,7 +76,7 @@ public: * @return true: system is inside fence, false: system is outside fence */ bool inside(const struct vehicle_global_position_s &global_position, - const struct vehicle_gps_position_s &gps_position,float baro_altitude_amsl); + const struct vehicle_gps_position_s &gps_position, float baro_altitude_amsl); bool inside_polygon(double lat, double lon, float altitude); int clearDm(); diff --git a/src/modules/position_estimator_inav/inertial_filter.c b/src/modules/position_estimator_inav/inertial_filter.c index a36a4688d..c70cbeb0e 100644 --- a/src/modules/position_estimator_inav/inertial_filter.c +++ b/src/modules/position_estimator_inav/inertial_filter.c @@ -15,6 +15,7 @@ void inertial_filter_predict(float dt, float x[2], float acc) if (!isfinite(acc)) { acc = 0.0f; } + x[0] += x[1] * dt + acc * dt * dt / 2.0f; x[1] += acc * dt; } diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index d76ec55f0..9d2849090 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -142,7 +142,7 @@ sbus1_output(uint16_t *values, uint16_t num_values) value = (uint16_t)(((values[i] - SBUS_SCALE_OFFSET) / SBUS_SCALE_FACTOR) + .5f); /*protect from out of bounds values and limit to 11 bits*/ - if (value > 0x07ff ) { + if (value > 0x07ff) { value = 0x07ff; } diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 272e4b14f..1acc14fc6 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -682,7 +682,7 @@ PARAM_DEFINE_INT32(SENS_FLOW_ROT, 0); * * @group Sensor Calibration */ - PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f); +PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f); /** * Board rotation X (Roll) offset diff --git a/src/modules/systemlib/circuit_breaker.cpp b/src/modules/systemlib/circuit_breaker.cpp index ea478a60f..f5ff0afd4 100644 --- a/src/modules/systemlib/circuit_breaker.cpp +++ b/src/modules/systemlib/circuit_breaker.cpp @@ -45,7 +45,7 @@ #include <px4.h> #include <systemlib/circuit_breaker.h> -bool circuit_breaker_enabled(const char* breaker, int32_t magic) +bool circuit_breaker_enabled(const char *breaker, int32_t magic) { int32_t val; (void)PX4_PARAM_GET_BYNAME(breaker, &val); diff --git a/src/modules/systemlib/circuit_breaker.h b/src/modules/systemlib/circuit_breaker.h index c97dbc26f..c76e6c37f 100644 --- a/src/modules/systemlib/circuit_breaker.h +++ b/src/modules/systemlib/circuit_breaker.h @@ -61,7 +61,7 @@ __BEGIN_DECLS -extern "C" __EXPORT bool circuit_breaker_enabled(const char* breaker, int32_t magic); +extern "C" __EXPORT bool circuit_breaker_enabled(const char *breaker, int32_t magic); __END_DECLS diff --git a/src/modules/systemlib/rc_check.h b/src/modules/systemlib/rc_check.h index e70b83cce..035f63bef 100644 --- a/src/modules/systemlib/rc_check.h +++ b/src/modules/systemlib/rc_check.h @@ -39,7 +39,7 @@ #pragma once - __BEGIN_DECLS +__BEGIN_DECLS /** * Check the RC calibration diff --git a/src/modules/uORB/topics/esc_status.h b/src/modules/uORB/topics/esc_status.h index b45c49788..73fe0f936 100644 --- a/src/modules/uORB/topics/esc_status.h +++ b/src/modules/uORB/topics/esc_status.h @@ -92,7 +92,7 @@ struct esc_status_s { struct { enum ESC_VENDOR esc_vendor; /**< Vendor of current ESC */ uint32_t esc_errorcount; /**< Number of reported errors by ESC - if supported */ - int32_t esc_rpm; /**< Motor RPM, negative for reverse rotation [RPM] - if supported */ + int32_t esc_rpm; /**< Motor RPM, negative for reverse rotation [RPM] - if supported */ float esc_voltage; /**< Voltage measured from current ESC [V] - if supported */ float esc_current; /**< Current measured from current ESC [A] - if supported */ float esc_temperature; /**< Temperature measured from current ESC [degC] - if supported */ diff --git a/src/modules/uORB/topics/fence.h b/src/modules/uORB/topics/fence.h index a61f078ba..43cee89fe 100644 --- a/src/modules/uORB/topics/fence.h +++ b/src/modules/uORB/topics/fence.h @@ -65,7 +65,7 @@ struct fence_vertex_s { * This is the position of a geofence * */ -struct fence_s { +struct fence_s { unsigned count; /**< number of actual vertices */ struct fence_vertex_s vertices[GEOFENCE_MAX_VERTICES]; }; diff --git a/src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp b/src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp index 7366d7fc6..125ceaddc 100644 --- a/src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp +++ b/src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp @@ -66,6 +66,7 @@ int DemoOffboardPositionSetpoints::main() pose.pose.position.z = 1; _local_position_sp_pub.publish(pose); } + return 0; } diff --git a/src/systemcmds/tests/test_jig_voltages.c b/src/systemcmds/tests/test_jig_voltages.c index 98a105cb3..554125302 100644 --- a/src/systemcmds/tests/test_jig_voltages.c +++ b/src/systemcmds/tests/test_jig_voltages.c @@ -162,7 +162,7 @@ int test_jig_voltages(int argc, char *argv[]) errout_with_dev: - if (fd != 0) close(fd); + if (fd != 0) { close(fd); } return ret; } diff --git a/src/systemcmds/tests/test_rc.c b/src/systemcmds/tests/test_rc.c index c9f9ef439..3a8144077 100644 --- a/src/systemcmds/tests/test_rc.c +++ b/src/systemcmds/tests/test_rc.c @@ -126,7 +126,7 @@ int test_rc(int argc, char *argv[]) warnx("TIMEOUT, less than 10 Hz updates"); (void)close(_rc_sub); return ERROR; - } + } } else { /* key pressed, bye bye */ diff --git a/src/systemcmds/tests/test_uart_send.c b/src/systemcmds/tests/test_uart_send.c index 7e1e8d307..70a9c719e 100644 --- a/src/systemcmds/tests/test_uart_send.c +++ b/src/systemcmds/tests/test_uart_send.c @@ -95,7 +95,7 @@ int test_uart_send(int argc, char *argv[]) /* input handling */ char *uart_name = "/dev/ttyS3"; - if (argc > 1) uart_name = argv[1]; + if (argc > 1) { uart_name = argv[1]; } /* assuming NuttShell is on UART1 (/dev/ttyS0) */ int test_uart = open(uart_name, O_RDWR | O_NONBLOCK | O_NOCTTY); // diff --git a/src/systemcmds/usb_connected/usb_connected.c b/src/systemcmds/usb_connected/usb_connected.c index 98bbbc4be..530fee340 100644 --- a/src/systemcmds/usb_connected/usb_connected.c +++ b/src/systemcmds/usb_connected/usb_connected.c @@ -52,5 +52,5 @@ __EXPORT int usb_connected_main(int argc, char *argv[]); int usb_connected_main(int argc, char *argv[]) { - return stm32_gpioread(GPIO_OTGFS_VBUS) ? 0:1; + return stm32_gpioread(GPIO_OTGFS_VBUS) ? 0 : 1; } |