diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp index 513e7dfa81..aabb94d8a9 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp @@ -65,13 +65,11 @@ bool AP_RangeFinder_BBB_PRU::detect() // Load firmware (.text) FILE *file = fopen("/lib/firmware/rangefinderprutext.bin", "rb"); - if(file == nullptr) - { + if (file == nullptr) { result = false; } - if(fread(ram, PRU0_IRAM_SIZE, 1, file) != 1) - { + if (fread(ram, PRU0_IRAM_SIZE, 1, file) != 1) { result = false; } @@ -83,13 +81,11 @@ bool AP_RangeFinder_BBB_PRU::detect() // Load firmware (.data) file = fopen("/lib/firmware/rangefinderprudata.bin", "rb"); - if(file == nullptr) - { + if (file == nullptr) { result = false; } - if(fread(ram, PRU0_DRAM_SIZE, 1, file) != 1) - { + if (fread(ram, PRU0_DRAM_SIZE, 1, file) != 1) { result = false; } diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp index 8e1d3dfed5..d81a9b3a35 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp @@ -121,23 +121,25 @@ unsigned short AP_RangeFinder_Bebop::get_threshold_at(int i_capture) * */ switch (_mode) { case 0: - if (i_capture < 139) + if (i_capture < 139) { threshold_value = 4195; - else if (i_capture < 153) + ] else if (i_capture < 153) { threshold_value = waveform_mode0[i_capture - 139]; - else + } else { threshold_value = 1200; + } break; case 1: - if (i_capture < 73) + if (i_capture < 73) { threshold_value = 4195; - else if (i_capture < 105) + } else if (i_capture < 105) { threshold_value = waveform_mode1[i_capture - 73]; - else if (i_capture < 617) + } else if (i_capture < 617) { threshold_value = 1200; - else + } else { threshold_value = 4195; + } break; default: @@ -171,10 +173,11 @@ int AP_RangeFinder_Bebop::_apply_averaging_filter(void) /* We keep on advancing in the captured buffer without registering the * filtered data until the signal first exceeds a given value */ - if (!first_echo && current_value < threshold_echo_init) + if (!first_echo && current_value < threshold_echo_init) { continue; - else + } else { first_echo = true; + } filtered_value += current_value; if (i_capture % _filter_average == 0) { @@ -202,8 +205,9 @@ int AP_RangeFinder_Bebop::_search_local_maxima(void) get_threshold_at(i_capture - 1))) { _echoes[i_echo].max_index = i_capture; i_echo++; - if (i_echo >= RNFD_BEBOP_MAX_ECHOES) + if (i_echo >= RNFD_BEBOP_MAX_ECHOES) { break; + } } } } @@ -224,10 +228,11 @@ int AP_RangeFinder_Bebop::_search_maximum_with_max_amplitude(void) } } - if (max_idx >= 0) + if (max_idx >= 0) { return _echoes[max_idx].max_index; - else + } else { return -1; + } } void AP_RangeFinder_Bebop::_loop(void) @@ -304,10 +309,12 @@ void AP_RangeFinder_Bebop::_reconfigure_wave() { /* configure the output buffer for a purge */ /* perform a purge */ - if (_launch_purge() < 0) + if (_launch_purge() < 0) { hal.console->printf("purge could not send data overspi"); - if (_capture() < 0) + } + if (_capture() < 0) { hal.console->printf("purge could not capture data"); + } _tx_buf = _tx[_mode]; switch (_mode) { @@ -342,8 +349,9 @@ int AP_RangeFinder_Bebop::_configure_capture() const char *adcchannel = "voltage2"; /* configure adc interface using libiio */ _iio = iio_create_local_context(); - if (!_iio) + if (!_iio) { return -1; + } _adc.device = iio_context_find_device(_iio, adcname); if (!_adc.device) { diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp index 40d3397758..acbafe80a6 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp @@ -171,8 +171,9 @@ bool AP_RangeFinder_Benewake_TFMiniPlus::check_checksum(uint8_t *arr, int pkt_le int i; /* sum them all except the last (the checksum) */ - for (i = 0; i < pkt_len - 1; i++) + for (i = 0; i < pkt_len - 1; i++) { checksum += arr[i]; + } return checksum == arr[pkt_len - 1]; } diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp index 12f506ee00..fed8abe0c2 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp @@ -120,10 +120,12 @@ bool AP_RangeFinder_NMEA::decode(char c) } // ordinary characters are added to term - if (_term_offset < sizeof(_term) - 1) + if (_term_offset < sizeof(_term) - 1) { _term[_term_offset++] = c; - if (!_term_is_checksum) + } + if (!_term_is_checksum) { _checksum ^= c; + } return false; } diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp index a97b8dc3e4..4973ae446c 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp @@ -228,7 +228,7 @@ AP_RangeFinder_VL53L0X::AP_RangeFinder_VL53L0X(RangeFinder::RangeFinder_State &_ */ AP_RangeFinder_Backend *AP_RangeFinder_VL53L0X::detect(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, AP_HAL::OwnPtr dev) { - if(!dev){ + if (!dev) { return nullptr; } AP_RangeFinder_VL53L0X *sensor diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp index 4a54cddc30..6ff687b27b 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp @@ -250,7 +250,7 @@ bool AP_RangeFinder_VL53L1X::setMeasurementTimingBudget(uint32_t budget_us) // VL53L1_calc_timeout_register_values() begin uint8_t range_config_vcsel_period = 0; - if(!read_register(RANGE_CONFIG__VCSEL_PERIOD_A, range_config_vcsel_period)) { + if (!read_register(RANGE_CONFIG__VCSEL_PERIOD_A, range_config_vcsel_period)) { return false; }