From 16acca865fd24bc405cd2ff91111fa1f12c672bd Mon Sep 17 00:00:00 2001
From: Gustavo Jose de Sousa <gustavo.sousa@intel.com>
Date: Fri, 22 Jan 2016 14:40:43 -0200
Subject: [PATCH] AP_Compass: AP_Compass_test: fix style

Used uncrustify and some manual changes.
---
 .../AP_Compass_test/AP_Compass_test.cpp       | 59 +++++++++++--------
 1 file changed, 34 insertions(+), 25 deletions(-)

diff --git a/libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp b/libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp
index de06d2ffd6..bc06bb10ef 100644
--- a/libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp
+++ b/libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp
@@ -17,12 +17,15 @@ void setup() {
 
     if (!compass.init()) {
         hal.console->println("compass initialisation failed!");
-        while (1) ;
+        while (1)
+            ;
     }
     hal.console->printf("init done - %u compasses detected\n", compass.get_count());
 
-    compass.set_and_save_offsets(0,0,0,0); // set offsets to account for surrounding interference
-    compass.set_declination(ToRad(0.0f)); // set local difference between magnetic north and true north
+    // set offsets to account for surrounding interference
+    compass.set_and_save_offsets(0, 0, 0, 0);
+    // set local difference between magnetic north and true north
+    compass.set_declination(ToRad(0.0f));
 
     hal.scheduler->delay(1000);
     timer = AP_HAL::micros();
@@ -34,8 +37,7 @@ void loop()
 
     compass.accumulate();
 
-    if((AP_HAL::micros()- timer) > 100000L)
-    {
+    if ((AP_HAL::micros() - timer) > 100000L) {
         timer = AP_HAL::micros();
         compass.read();
         unsigned long read_time = AP_HAL::micros() - timer;
@@ -45,51 +47,58 @@ void loop()
             hal.console->println("not healthy");
             return;
         }
-	Matrix3f dcm_matrix;
-	// use roll = 0, pitch = 0 for this example
-	dcm_matrix.from_euler(0, 0, 0);
+        Matrix3f dcm_matrix;
+        // use roll = 0, pitch = 0 for this example
+        dcm_matrix.from_euler(0, 0, 0);
         heading = compass.calculate_heading(dcm_matrix);
         compass.learn_offsets();
 
-        // capture min
         const Vector3f &mag = compass.get_field();
-        if( mag.x < min[0] )
+
+        // capture min
+        if (mag.x < min[0]) {
             min[0] = mag.x;
-        if( mag.y < min[1] )
+        }
+        if (mag.y < min[1]) {
             min[1] = mag.y;
-        if( mag.z < min[2] )
+        }
+        if (mag.z < min[2]) {
             min[2] = mag.z;
+        }
 
         // capture max
-        if( mag.x > max[0] )
+        if (mag.x > max[0]) {
             max[0] = mag.x;
-        if( mag.y > max[1] )
+        }
+        if (mag.y > max[1]) {
             max[1] = mag.y;
-        if( mag.z > max[2] )
+        }
+        if (mag.z > max[2]) {
             max[2] = mag.z;
+        }
 
         // calculate offsets
-        offset[0] = -(max[0]+min[0])/2;
-        offset[1] = -(max[1]+min[1])/2;
-        offset[2] = -(max[2]+min[2])/2;
+        offset[0] = -(max[0] + min[0]) / 2;
+        offset[1] = -(max[1] + min[1]) / 2;
+        offset[2] = -(max[2] + min[2]) / 2;
 
         // display all to user
         hal.console->printf("Heading: %.2f (%3d,%3d,%3d) i2c error: %u",
-			    ToDeg(heading),
-			    (int)mag.x,
-			    (int)mag.y,
-			    (int)mag.z, 
-			    (unsigned)hal.i2c->lockup_count());
+                            ToDeg(heading),
+                            (int)mag.x,
+                            (int)mag.y,
+                            (int)mag.z,
+                            (unsigned)hal.i2c->lockup_count());
 
         // display offsets
         hal.console->printf(" offsets(%.2f, %.2f, %.2f)",
-                      offset[0], offset[1], offset[2]);
+                            offset[0], offset[1], offset[2]);
 
         hal.console->printf(" t=%u", (unsigned)read_time);
 
         hal.console->println();
     } else {
-	    hal.scheduler->delay(1);
+        hal.scheduler->delay(1);
     }
 }