diff options
Diffstat (limited to 'src')
55 files changed, 129 insertions, 102 deletions
diff --git a/src/drivers/airspeed/airspeed.h b/src/drivers/airspeed/airspeed.h index d6a88714b..cdaf244dd 100644 --- a/src/drivers/airspeed/airspeed.h +++ b/src/drivers/airspeed/airspeed.h @@ -90,7 +90,7 @@ static const int ERROR = -1; class __EXPORT Airspeed : public device::I2C { public: - Airspeed(int bus, int address, unsigned conversion_interval, const char* path); + Airspeed(int bus, int address, unsigned conversion_interval, const char *path); virtual ~Airspeed(); virtual int init(); @@ -108,8 +108,8 @@ private: perf_counter_t _buffer_overflows; /* this class has pointer data members and should not be copied */ - Airspeed(const Airspeed&); - Airspeed& operator=(const Airspeed&); + Airspeed(const Airspeed &); + Airspeed &operator=(const Airspeed &); protected: virtual int probe(); diff --git a/src/drivers/ardrone_interface/ardrone_motor_control.h b/src/drivers/ardrone_interface/ardrone_motor_control.h index 78b603b63..dcc49a472 100644 --- a/src/drivers/ardrone_interface/ardrone_motor_control.h +++ b/src/drivers/ardrone_interface/ardrone_motor_control.h @@ -85,7 +85,8 @@ int ar_init_motors(int ardrone_uart, int gpio); /** * Set LED pattern. */ -void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green, uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green); +void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green, + uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green); /** * Mix motors and output actuators diff --git a/src/drivers/boards/aerocore/aerocore_spi.c b/src/drivers/boards/aerocore/aerocore_spi.c index e329bd9d1..0fa474a8c 100644 --- a/src/drivers/boards/aerocore/aerocore_spi.c +++ b/src/drivers/boards/aerocore/aerocore_spi.c @@ -136,8 +136,8 @@ __EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, switch (devid) { case PX4_SPIDEV_GYRO: - /* Making sure the other peripherals are not selected */ - stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected); + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected); stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); break; diff --git a/src/drivers/boards/px4fmu-v1/px4fmu_spi.c b/src/drivers/boards/px4fmu-v1/px4fmu_spi.c index 17e6862f7..16f94a9f2 100644 --- a/src/drivers/boards/px4fmu-v1/px4fmu_spi.c +++ b/src/drivers/boards/px4fmu-v1/px4fmu_spi.c @@ -90,8 +90,8 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, switch (devid) { case PX4_SPIDEV_GYRO: - /* Making sure the other peripherals are not selected */ - stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected); + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected); stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1); break; diff --git a/src/drivers/boards/px4io-v2/board_config.h b/src/drivers/boards/px4io-v2/board_config.h index 10a93be0b..99baee41d 100644 --- a/src/drivers/boards/px4io-v2/board_config.h +++ b/src/drivers/boards/px4io-v2/board_config.h @@ -50,7 +50,7 @@ /* these headers are not C++ safe */ #include <stm32.h> #include <arch/board/board.h> - + /****************************************************************************** * Definitions ******************************************************************************/ @@ -117,7 +117,7 @@ #define GPIO_SBUS_OUTPUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) #define GPIO_SBUS_OENABLE (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4) -/* +/* * High-resolution timer */ #define HRT_TIMER 1 /* use timer1 for the HRT */ diff --git a/src/drivers/device/i2c.h b/src/drivers/device/i2c.h index 7bb4ae1af..cb13fed83 100644 --- a/src/drivers/device/i2c.h +++ b/src/drivers/device/i2c.h @@ -63,7 +63,7 @@ public: static int set_bus_clock(unsigned bus, unsigned clock_hz); static unsigned int _bus_clocks[3]; - + protected: /** * The number of times a read or write operation will be retried on @@ -144,8 +144,8 @@ private: uint32_t _frequency; struct i2c_dev_s *_dev; - I2C(const device::I2C&); - I2C operator=(const device::I2C&); + I2C(const device::I2C &); + I2C operator=(const device::I2C &); }; } // namespace device diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h index 8bfc90c64..a40943d3f 100644 --- a/src/drivers/drv_hrt.h +++ b/src/drivers/drv_hrt.h @@ -127,7 +127,8 @@ __EXPORT extern void hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, h * Note thet the interval is timed between scheduled, not actual, call times, so the call rate may * jitter but should not drift. */ -__EXPORT extern void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg); +__EXPORT extern void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, + hrt_callout callout, void *arg); /* * If this returns true, the entry has been invoked and removed from the callout list, diff --git a/src/drivers/drv_rgbled.h b/src/drivers/drv_rgbled.h index b10caf56a..063376868 100644 --- a/src/drivers/drv_rgbled.h +++ b/src/drivers/drv_rgbled.h @@ -58,7 +58,7 @@ /** play the numbered script in (arg), repeating forever */ #define RGBLED_PLAY_SCRIPT _RGBLEDIOC(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] * @@ -79,7 +79,7 @@ #define RGBLED_SET_PATTERN _RGBLEDIOC(7) -/* +/* structure passed to RGBLED_SET_RGB ioctl() Note that the driver scales the brightness to 0 to 255, regardless of the hardware scaling diff --git a/src/drivers/frsky_telemetry/frsky_data.c b/src/drivers/frsky_telemetry/frsky_data.c index 890fada16..de22a888d 100644 --- a/src/drivers/frsky_telemetry/frsky_data.c +++ b/src/drivers/frsky_telemetry/frsky_data.c @@ -222,6 +222,7 @@ void frsky_send_frame2(int uart) float course = 0, lat = 0, lon = 0, speed = 0, alt = 0; char lat_ns = 0, lon_ew = 0; int sec = 0; + if (global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) { time_t time_gps = global_pos.time_utc_usec / 1000000ULL; struct tm *tm_gps = gmtime(&time_gps); @@ -232,7 +233,7 @@ void frsky_send_frame2(int uart) lon = frsky_format_gps(fabsf(global_pos.lon)); lon_ew = (global_pos.lon < 0) ? 'W' : 'E'; speed = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e) - * 25.0f / 46.0f; + * 25.0f / 46.0f; alt = global_pos.alt; sec = tm_gps->tm_sec; } diff --git a/src/drivers/md25/BlockSysIdent.hpp b/src/drivers/md25/BlockSysIdent.hpp index 270635f40..e8dd4ee9c 100644 --- a/src/drivers/md25/BlockSysIdent.hpp +++ b/src/drivers/md25/BlockSysIdent.hpp @@ -1,7 +1,8 @@ #include <controllib/block/Block.hpp> #include <controllib/block/BlockParam.hpp> -class BlockSysIdent : public control::Block { +class BlockSysIdent : public control::Block +{ public: BlockSysIdent(); private: diff --git a/src/lib/mathlib/math/Limits.cpp b/src/lib/mathlib/math/Limits.cpp index e16f33bd6..0ae545f1a 100644 --- a/src/lib/mathlib/math/Limits.cpp +++ b/src/lib/mathlib/math/Limits.cpp @@ -44,9 +44,10 @@ #include "Limits.hpp" -namespace math { +namespace math +{ -#ifndef CONFIG_ARCH_ARM +#ifndef CONFIG_ARCH_ARM #define M_PI_F 3.14159265358979323846f #endif diff --git a/src/lib/mathlib/math/Limits.hpp b/src/lib/mathlib/math/Limits.hpp index fca4197b8..f04d72507 100644 --- a/src/lib/mathlib/math/Limits.hpp +++ b/src/lib/mathlib/math/Limits.hpp @@ -42,7 +42,8 @@ #include <platforms/px4_defines.h> #include <stdint.h> -namespace math { +namespace math +{ float __EXPORT min(float val1, float val2); diff --git a/src/lib/mathlib/math/test/test.cpp b/src/lib/mathlib/math/test/test.cpp index 2fa2f7e7c..c52771ab8 100644 --- a/src/lib/mathlib/math/test/test.cpp +++ b/src/lib/mathlib/math/test/test.cpp @@ -51,7 +51,7 @@ bool __EXPORT equal(float a, float b, float epsilon) printf("not equal ->\n\ta: %12.8f\n\tb: %12.8f\n", double(a), double(b)); return false; - } else return true; + } else { return true; } } void __EXPORT float2SigExp( @@ -84,10 +84,10 @@ void __EXPORT float2SigExp( // cheap power since it is integer if (exp > 0) { - for (int i = 0; i < abs(exp); i++) sig /= 10; + for (int i = 0; i < abs(exp); i++) { sig /= 10; } } else { - for (int i = 0; i < abs(exp); i++) sig *= 10; + for (int i = 0; i < abs(exp); i++) { sig *= 10; } } } diff --git a/src/lib/rc/st24.c b/src/lib/rc/st24.c index 5c53a1602..f75827903 100644 --- a/src/lib/rc/st24.c +++ b/src/lib/rc/st24.c @@ -104,7 +104,7 @@ uint8_t st24_common_crc8(uint8_t *ptr, uint8_t len) 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 max_chan_count) { int ret = 1; @@ -113,6 +113,7 @@ int st24_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channe case ST24_DECODE_STATE_UNSYNCED: if (byte == ST24_STX1) { _decode_state = ST24_DECODE_STATE_GOT_STX1; + } else { ret = 3; } 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); } diff --git a/src/platforms/px4_message.h b/src/platforms/px4_message.h index bff7aa313..499a5dd8b 100644 --- a/src/platforms/px4_message.h +++ b/src/platforms/px4_message.h @@ -39,7 +39,7 @@ #pragma once #if defined(__PX4_ROS) -typedef const char* PX4TopicHandle; +typedef const char *PX4TopicHandle; #else #include <uORB/uORB.h> typedef orb_id_t PX4TopicHandle; @@ -68,8 +68,8 @@ public: virtual ~PX4Message() {}; - virtual M& data() {return _data;} - virtual const M& data() const {return _data;} + virtual M &data() {return _data;} + virtual const M &data() const {return _data;} private: M _data; }; diff --git a/src/platforms/ros/nodes/commander/commander.h b/src/platforms/ros/nodes/commander/commander.h index c537c8419..fc88260ba 100644 --- a/src/platforms/ros/nodes/commander/commander.h +++ b/src/platforms/ros/nodes/commander/commander.h @@ -68,14 +68,14 @@ protected: * Set control mode flags based on stick positions (equiv to code in px4 commander) */ void EvalSwitches(const px4::manual_control_setpointConstPtr &msg, - px4::vehicle_status &msg_vehicle_status, - px4::vehicle_control_mode &msg_vehicle_control_mode); + px4::vehicle_status &msg_vehicle_status, + px4::vehicle_control_mode &msg_vehicle_control_mode); /** * Sets offboard controll flags in msg_vehicle_control_mode */ void SetOffboardControl(const px4::offboard_control_mode &msg_offboard_control_mode, - px4::vehicle_control_mode &msg_vehicle_control_mode); + px4::vehicle_control_mode &msg_vehicle_control_mode); ros::NodeHandle _n; ros::Subscriber _man_ctrl_sp_sub; diff --git a/src/platforms/ros/nodes/position_estimator/position_estimator.cpp b/src/platforms/ros/nodes/position_estimator/position_estimator.cpp index ed3a4efa5..e4273687e 100644 --- a/src/platforms/ros/nodes/position_estimator/position_estimator.cpp +++ b/src/platforms/ros/nodes/position_estimator/position_estimator.cpp @@ -64,14 +64,16 @@ void PositionEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstP /* Fill px4 position topic with contents from modelstates topic */ int index = 0; + //XXX: maybe a more clever approach would be to do this not on every loop, need to check if and when //gazebo rearranges indexes. - for(std::vector<std::string>::const_iterator it = msg->name.begin(); it != msg->name.end(); ++it) { + for (std::vector<std::string>::const_iterator it = msg->name.begin(); it != msg->name.end(); ++it) { if (*it == "iris" || *it == "ardrone") { index = it - msg->name.begin(); break; } } + msg_v_l_pos.xy_valid = true; msg_v_l_pos.z_valid = true; msg_v_l_pos.v_xy_valid = true; diff --git a/src/systemcmds/perf/perf.c b/src/systemcmds/perf/perf.c index a788dfc11..4ab92dde6 100644 --- a/src/systemcmds/perf/perf.c +++ b/src/systemcmds/perf/perf.c @@ -68,11 +68,13 @@ int perf_main(int argc, char *argv[]) if (strcmp(argv[1], "reset") == 0) { perf_reset_all(); return 0; + } else if (strcmp(argv[1], "latency") == 0) { perf_print_latency(0 /* stdout */); fflush(stdout); return 0; } + printf("Usage: perf [reset | latency]\n"); return -1; } diff --git a/src/systemcmds/reboot/reboot.c b/src/systemcmds/reboot/reboot.c index 91a2c2eb8..d46f96545 100644 --- a/src/systemcmds/reboot/reboot.c +++ b/src/systemcmds/reboot/reboot.c @@ -57,9 +57,10 @@ int reboot_main(int argc, char *argv[]) case 'b': to_bootloader = true; break; + default: errx(1, "usage: reboot [-b]\n" - " -b reboot into the bootloader"); + " -b reboot into the bootloader"); } } diff --git a/src/systemcmds/tests/test_adc.c b/src/systemcmds/tests/test_adc.c index 9f6905239..ef12c9ad2 100644 --- a/src/systemcmds/tests/test_adc.c +++ b/src/systemcmds/tests/test_adc.c @@ -71,8 +71,9 @@ int test_adc(int argc, char *argv[]) /* read all channels available */ ssize_t count = read(fd, data, sizeof(data)); - if (count < 0) + if (count < 0) { goto errout_with_dev; + } unsigned channels = count / sizeof(data[0]); @@ -88,7 +89,7 @@ int test_adc(int argc, char *argv[]) errout_with_dev: - if (fd != 0) close(fd); + if (fd != 0) { close(fd); } return OK; } diff --git a/src/systemcmds/tests/test_hott_telemetry.c b/src/systemcmds/tests/test_hott_telemetry.c index 270dc3857..ef6173c9e 100644 --- a/src/systemcmds/tests/test_hott_telemetry.c +++ b/src/systemcmds/tests/test_hott_telemetry.c @@ -190,7 +190,8 @@ int test_hott_telemetry(int argc, char *argv[]) warnx("PASS: Received %d out of %d valid byte pairs from the HoTT receiver device.", received_count, max_polls); } else { - warnx("WARN: Received %d out of %d byte pairs of which %d were valid from the HoTT receiver device.", received_count, max_polls, valid_count); + warnx("WARN: Received %d out of %d byte pairs of which %d were valid from the HoTT receiver device.", received_count, + max_polls, valid_count); } } else { diff --git a/src/systemcmds/tests/test_uart_baudchange.c b/src/systemcmds/tests/test_uart_baudchange.c index 609a65c62..cd2e56131 100644 --- a/src/systemcmds/tests/test_uart_baudchange.c +++ b/src/systemcmds/tests/test_uart_baudchange.c @@ -146,8 +146,9 @@ int test_uart_baudchange(int argc, char *argv[]) /* uart2 -> */ r = write(uart2, sample_uart2, sizeof(sample_uart2)); - if (r > 0) + if (r > 0) { uart2_nwrite += r; + } } close(uart2); |