HAL_PX4: cleanup whitespace

libraries/AP_HAL_PX4/RCInput.cpp

@@ -14,16 +14,16 @@ extern const AP_HAL::HAL& hal;
 
 void PX4RCInput::init()
 {
-	_perf_rcin = perf_alloc(PC_ELAPSED, "APM_rcin");
+    _perf_rcin = perf_alloc(PC_ELAPSED, "APM_rcin");
-	_rc_sub = orb_subscribe(ORB_ID(input_rc));
+    _rc_sub = orb_subscribe(ORB_ID(input_rc));
-	if (_rc_sub == -1) {
+    if (_rc_sub == -1) {
-		AP_HAL::panic("Unable to subscribe to input_rc");
+        AP_HAL::panic("Unable to subscribe to input_rc");
-	}
+    }
-	clear_overrides();
+    clear_overrides();
-        pthread_mutex_init(&rcin_mutex, nullptr);
+    pthread_mutex_init(&rcin_mutex, nullptr);
 }
 
-bool PX4RCInput::new_input() 
+bool PX4RCInput::new_input()
 {
     pthread_mutex_lock(&rcin_mutex);
     bool valid = _rcin.timestamp_last_signal != _last_read || _override_valid;
@@ -33,7 +33,7 @@ bool PX4RCInput::new_input()
     return valid;
 }
 
-uint8_t PX4RCInput::num_channels() 
+uint8_t PX4RCInput::num_channels()
 {
     pthread_mutex_lock(&rcin_mutex);
     uint8_t n = _rcin.channel_count;
@@ -41,80 +41,80 @@ uint8_t PX4RCInput::num_channels()
     return n;
 }
 
-uint16_t PX4RCInput::read(uint8_t ch) 
+uint16_t PX4RCInput::read(uint8_t ch)
 {
-	if (ch >= RC_INPUT_MAX_CHANNELS) {
+    if (ch >= RC_INPUT_MAX_CHANNELS) {
-		return 0;
+        return 0;
-	}
+    }
-        pthread_mutex_lock(&rcin_mutex);
+    pthread_mutex_lock(&rcin_mutex);
-	if (_override[ch]) {
+    if (_override[ch]) {
-            uint16_t v = _override[ch];
+        uint16_t v = _override[ch];
-            pthread_mutex_unlock(&rcin_mutex);
-            return v;
-	}
-	if (ch >= _rcin.channel_count) {
-            pthread_mutex_unlock(&rcin_mutex);
-            return 0;
-	}
-	uint16_t v = _rcin.values[ch];
         pthread_mutex_unlock(&rcin_mutex);
         return v;
+    }
+    if (ch >= _rcin.channel_count) {
+        pthread_mutex_unlock(&rcin_mutex);
+        return 0;
+    }
+    uint16_t v = _rcin.values[ch];
+    pthread_mutex_unlock(&rcin_mutex);
+    return v;
 }
 
-uint8_t PX4RCInput::read(uint16_t* periods, uint8_t len) 
+uint8_t PX4RCInput::read(uint16_t* periods, uint8_t len)
 {
-	if (len > RC_INPUT_MAX_CHANNELS) {
+    if (len > RC_INPUT_MAX_CHANNELS) {
-		len = RC_INPUT_MAX_CHANNELS;
+        len = RC_INPUT_MAX_CHANNELS;
-	}
+    }
-	for (uint8_t i = 0; i < len; i++){
+    for (uint8_t i = 0; i < len; i++){
-		periods[i] = read(i);
+        periods[i] = read(i);
-	}
+    }
-	return len;
+    return len;
 }
 
-bool PX4RCInput::set_overrides(int16_t *overrides, uint8_t len) 
+bool PX4RCInput::set_overrides(int16_t *overrides, uint8_t len)
 {
-	bool res = false;
+    bool res = false;
-	for (uint8_t i = 0; i < len; i++) {
+    for (uint8_t i = 0; i < len; i++) {
-		res |= set_override(i, overrides[i]);
+        res |= set_override(i, overrides[i]);
-	}
+    }
-	return res;
+    return res;
 }
 
 bool PX4RCInput::set_override(uint8_t channel, int16_t override) {
-	if (override < 0) {
+    if (override < 0) {
-		return false; /* -1: no change. */
+        return false; /* -1: no change. */
-	}
+    }
-	if (channel >= RC_INPUT_MAX_CHANNELS) {
+    if (channel >= RC_INPUT_MAX_CHANNELS) {
-		return false;
+        return false;
-	}
+    }
-	_override[channel] = override;
+    _override[channel] = override;
-	if (override != 0) {
+    if (override != 0) {
-		_override_valid = true;
+        _override_valid = true;
-		return true;
+        return true;
-	}
+    }
-	return false;
+    return false;
 }
 
 void PX4RCInput::clear_overrides()
 {
-	for (uint8_t i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
+    for (uint8_t i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
-		set_override(i, 0);
+        set_override(i, 0);
-	}
+    }
 }
 
 void PX4RCInput::_timer_tick(void)
 {
-	perf_begin(_perf_rcin);
+    perf_begin(_perf_rcin);
-	bool rc_updated = false;
+    bool rc_updated = false;
-	if (orb_check(_rc_sub, &rc_updated) == 0 && rc_updated) {
+    if (orb_check(_rc_sub, &rc_updated) == 0 && rc_updated) {
-            pthread_mutex_lock(&rcin_mutex);
+        pthread_mutex_lock(&rcin_mutex);
-            orb_copy(ORB_ID(input_rc), _rc_sub, &_rcin);
+        orb_copy(ORB_ID(input_rc), _rc_sub, &_rcin);
-            pthread_mutex_unlock(&rcin_mutex);
+        pthread_mutex_unlock(&rcin_mutex);
-	}
+    }
-        // note, we rely on the vehicle code checking new_input() 
+    // note, we rely on the vehicle code checking new_input()
-        // and a timeout for the last valid input to handle failsafe
+    // and a timeout for the last valid input to handle failsafe
-	perf_end(_perf_rcin);
+    perf_end(_perf_rcin);
 }
 
 bool PX4RCInput::rc_bind(int dsmMode)
@@ -127,7 +127,7 @@ bool PX4RCInput::rc_bind(int dsmMode)
         hal.console->printf("RCInput: failed to open /dev/px4io or /dev/px4fmu\n");
         return false;
     }
-    
+
     uint32_t mode = (dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES);
     int ret = ioctl(fd, DSM_BIND_START, mode);
     close(fd);