IRLock: replace tabs with spaces

No functional change

libraries/AP_IRLock/AP_IRLock_PX4.cpp

@@ -31,53 +31,53 @@
 extern const AP_HAL::HAL& hal;
 
 AP_IRLock_PX4::AP_IRLock_PX4() :
-        _fd(0),
-		_last_timestamp(0)
+    _fd(0),
+    _last_timestamp(0)
 {}
 
 void AP_IRLock_PX4::init()
 {
-	_fd = open(IRLOCK0_DEVICE_PATH, O_RDONLY);
-	if (_fd < 0) {
-		hal.console->printf("Unable to open " IRLOCK0_DEVICE_PATH "\n");
-		return;
-	}
+    _fd = open(IRLOCK0_DEVICE_PATH, O_RDONLY);
+    if (_fd < 0) {
+        hal.console->printf("Unable to open " IRLOCK0_DEVICE_PATH "\n");
+        return;
+    }
 
-	_flags.healthy = true;
+    _flags.healthy = true;
 }
 
 // retrieve latest sensor data - returns true if new data is available
 bool AP_IRLock_PX4::update()
 {
     // return immediately if not healthy
-	if (!_flags.healthy) {
-		return false;
-	}
+    if (!_flags.healthy) {
+        return false;
+    }
 
-	// read position of all objects
-	struct irlock_s report;
-	uint16_t count = 0;
-	while(::read(_fd, &report, sizeof(struct irlock_s)) == sizeof(struct irlock_s) && report.timestamp >_last_timestamp) {
-	    _target_info[count].timestamp = report.timestamp;
-	    _target_info[count].target_num = report.target_num;
-	    _target_info[count].angle_x = report.angle_x;
-	    _target_info[count].angle_y = report.angle_y;
-	    _target_info[count].size_x = report.size_x;
-	    _target_info[count].size_y = report.size_y;
-		count++;
-		_last_timestamp = report.timestamp;
-		_last_update = hal.scheduler->millis();
-	}
+    // read position of all objects
+    struct irlock_s report;
+    uint16_t count = 0;
+    while(::read(_fd, &report, sizeof(struct irlock_s)) == sizeof(struct irlock_s) && report.timestamp >_last_timestamp) {
+        _target_info[count].timestamp = report.timestamp;
+        _target_info[count].target_num = report.target_num;
+        _target_info[count].angle_x = report.angle_x;
+        _target_info[count].angle_y = report.angle_y;
+        _target_info[count].size_x = report.size_x;
+        _target_info[count].size_y = report.size_y;
+        count++;
+        _last_timestamp = report.timestamp;
+        _last_update = hal.scheduler->millis();
+    }
 
-	// update num_blocks and implement timeout
-	if (count > 0) {
-	    _num_targets = count;
-	} else if ((hal.scheduler->millis() - _last_update) > IRLOCK_TIMEOUT_MS) {
-	    _num_targets = 0;
-	}
+    // update num_blocks and implement timeout
+    if (count > 0) {
+        _num_targets = count;
+    } else if ((hal.scheduler->millis() - _last_update) > IRLOCK_TIMEOUT_MS) {
+        _num_targets = 0;
+    }
 
-	// return true if new data found
-	return (_num_targets > 0);
+    // return true if new data found
+    return (_num_targets > 0);
 }
 
 #endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4

libraries/AP_IRLock/AP_IRLock_PX4.h

@@ -13,17 +13,17 @@
 class AP_IRLock_PX4 : public IRLock
 {
 public:
-	AP_IRLock_PX4();
+    AP_IRLock_PX4();
 
-	// init - initialize sensor library
-	virtual void init();
+    // init - initialize sensor library
+    virtual void init();
 
-	// retrieve latest sensor data - returns true if new data is available
-	virtual bool update();
+    // retrieve latest sensor data - returns true if new data is available
+    virtual bool update();
 
 private:
-	int _fd;
-	uint64_t _last_timestamp;
+    int _fd;
+    uint64_t _last_timestamp;
 };
 
 #endif /* AP_IRLOCK_PX4_H_ */

libraries/AP_IRLock/IRLock.cpp

@@ -9,14 +9,14 @@
 
 // default constructor
 IRLock::IRLock() :
-		_last_update(0),
-		_num_targets(0)
+    _last_update(0),
+    _num_targets(0)
 {
-	// clear target info
+    // clear target info
     memset(_target_info, 0, sizeof(_target_info));
 
-	// will be adjusted when init is called
-	_flags.healthy = false;
+    // will be adjusted when init is called
+    _flags.healthy = false;
 }
 
 IRLock::~IRLock() {}

libraries/AP_IRLock/IRLock.h

@@ -31,49 +31,49 @@
 class IRLock
 {
 public:
-	IRLock();
-	virtual ~IRLock();
+    IRLock();
+    virtual ~IRLock();
 
-	// init - initialize sensor library
-	// library won't be useable unless this is first called
-	virtual void init() = 0;
+    // init - initialize sensor library
+    // library won't be useable unless this is first called
+    virtual void init() = 0;
 
-	// true if irlock sensor is online and healthy
-	bool healthy() const { return _flags.healthy; }
+    // true if irlock sensor is online and healthy
+    bool healthy() const { return _flags.healthy; }
 
-	// timestamp of most recent data read from the sensor
-	uint32_t last_update() const { return _last_update; }
+    // timestamp of most recent data read from the sensor
+    uint32_t last_update() const { return _last_update; }
 
-	// returns the number of blocks in the current frame
-	size_t num_targets() const { return _num_targets; }
+    // returns the number of blocks in the current frame
+    size_t num_targets() const { return _num_targets; }
 
-	// retrieve latest sensor data - returns true if new data is available
-	virtual bool update() = 0;
+    // retrieve latest sensor data - returns true if new data is available
+    virtual bool update() = 0;
 
-	// get_angle_to_target - retrieve body frame x and y angles (in radians) to target
-	//  returns true if angles are available, false if not (i.e. no target)
-	bool get_angle_to_target(float &x_angle_rad, float &y_angle_rad) const;
+    // get_angle_to_target - retrieve body frame x and y angles (in radians) to target
+    //  returns true if angles are available, false if not (i.e. no target)
+    bool get_angle_to_target(float &x_angle_rad, float &y_angle_rad) const;
 
 protected:
-	struct AP_IRLock_Flags {
-		uint8_t healthy : 1; // true if sensor is healthy
-	} _flags;
+    struct AP_IRLock_Flags {
+        uint8_t healthy : 1; // true if sensor is healthy
+    } _flags;
 
-	// internals
-	uint32_t _last_update;
-	uint16_t _num_targets;
+    // internals
+    uint32_t _last_update;
+    uint16_t _num_targets;
 
-	// irlock_target_info is a duplicate of the PX4Firmware irlock_s structure
-	typedef struct {
-	    uint64_t timestamp;     // time target was seen in microseconds since system start
-	    uint16_t target_num;    // target number prioritised by size (largest is 0)
-	    float angle_x;          // x-axis angle in radians from center of image to center of target
-	    float angle_y;          // y-axis angle in radians from center of image to center of target
-	    float size_x;           // size in radians of target along x-axis
-	    float size_y;           // size in radians of target along y-axis
-	} irlock_target_info;
+    // irlock_target_info is a duplicate of the PX4Firmware irlock_s structure
+    typedef struct {
+        uint64_t timestamp;     // time target was seen in microseconds since system start
+        uint16_t target_num;    // target number prioritised by size (largest is 0)
+        float angle_x;          // x-axis angle in radians from center of image to center of target
+        float angle_y;          // y-axis angle in radians from center of image to center of target
+        float size_x;           // size in radians of target along x-axis
+        float size_y;           // size in radians of target along y-axis
+    } irlock_target_info;
 
-	irlock_target_info _target_info[IRLOCK_MAX_TARGETS];
+    irlock_target_info _target_info[IRLOCK_MAX_TARGETS];
 };