AP_AHRS: minor format fixes

libraries/AP_AHRS/AP_AHRS.h

@@ -52,7 +52,7 @@ class AP_AHRS
 {
 public:
     friend class AP_AHRS_View;
-    
+
     // Constructor
     AP_AHRS() :
         _vehicle_class(AHRS_VEHICLE_UNKNOWN),
@@ -130,7 +130,7 @@ public:
         }
         return AP_HAL::millis() - _last_flying_ms;
     }
-    
+
     AHRS_VehicleClass get_vehicle_class(void) const {
         return _vehicle_class;
     }
@@ -189,7 +189,7 @@ public:
     virtual uint8_t get_primary_gyro_index(void) const {
         return AP::ins().get_primary_gyro();
     }
-    
+
     // accelerometer values in the earth frame in m/s/s
     virtual const Vector3f &get_accel_ef(uint8_t i) const {
         return _accel_ef[i];
@@ -223,7 +223,7 @@ public:
     virtual bool have_ekf_logging(void) const {
         return false;
     }
-    
+
     // Euler angles (radians)
     float roll;
     float pitch;
@@ -269,7 +269,7 @@ public:
 
     // get rotation matrix specifically from DCM backend (used for compass calibrator)
     virtual const Matrix3f &get_DCM_rotation_body_to_ned(void) const = 0;
-    
+
     // get our current position estimate. Return true if a position is available,
     // otherwise false. This call fills in lat, lng and alt
     virtual bool get_position(struct Location &loc) const = 0;
@@ -436,7 +436,7 @@ public:
     virtual bool get_secondary_quaternion(Quaternion &quat) const {
         return false;
     }
-    
+
     // return secondary position solution if available
     virtual bool get_secondary_position(struct Location &loc) const {
         return false;
@@ -528,7 +528,7 @@ public:
     virtual bool resetHeightDatum(void) {
         return false;
     }
-    
+
     // get_variances - provides the innovations normalised using the innovation variance where a value of 0
     // indicates perfect consistency between the measurement and the EKF solution and a value of of 1 is the maximum
     // inconsistency that will be accepted by the filter
@@ -536,7 +536,7 @@ public:
     virtual bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const {
         return false;
     }
-    
+
     // time that the AHRS has been up
     virtual uint32_t uptime_ms(void) const = 0;
 
@@ -569,7 +569,7 @@ public:
     // rotate a 2D vector from earth frame to body frame
     // in input, x is forward, y is right
     Vector2f rotate_body_to_earth2D(const Vector2f &bf) const;
-    
+
     virtual void update_AOA_SSA(void);
 
     // get_hgt_ctrl_limit - get maximum height to be observed by the
@@ -584,12 +584,12 @@ public:
     HAL_Semaphore &get_semaphore(void) {
         return _rsem;
     }
-    
+
 protected:
-    
+
     // multi-thread access support
     HAL_Semaphore_Recursive _rsem;
-    
+
     AHRS_VehicleClass _vehicle_class;
 
     // settable parameters
@@ -627,7 +627,7 @@ protected:
     void calc_trig(const Matrix3f &rot,
                    float &cr, float &cp, float &cy,
                    float &sr, float &sp, float &sy) const;
-    
+
     // update_trig - recalculates _cos_roll, _cos_pitch, etc based on latest attitude
     //      should be called after _dcm_matrix is updated
     void update_trig(void);

libraries/AP_AHRS/AP_AHRS_DCM.h

@@ -55,7 +55,7 @@ public:
 
     // get rotation matrix specifically from DCM backend (used for compass calibrator)
     const Matrix3f &get_DCM_rotation_body_to_ned(void) const override { return _body_dcm_matrix; }
-    
+
     // return the current drift correction integrator value
     const Vector3f &get_gyro_drift() const override {
         return _omega_I;

libraries/AP_AHRS/AP_AHRS_NavEKF.h

@@ -102,13 +102,13 @@ public:
     const NavEKF3 &get_NavEKF3_const(void) const {
         return EKF3;
     }
-    
+
     // return secondary attitude solution if available, as eulers in radians
     bool get_secondary_attitude(Vector3f &eulers) const override;
 
     // return secondary attitude solution if available, as quaternion
     bool get_secondary_quaternion(Quaternion &quat) const override;
-    
+
     // return secondary position solution if available
     bool get_secondary_position(struct Location &loc) const override;
 
@@ -216,7 +216,7 @@ public:
 
     // send a EKF_STATUS_REPORT for current EKF
     void send_ekf_status_report(mavlink_channel_t chan) const;
-    
+
     // get_hgt_ctrl_limit - get maximum height to be observed by the control loops in meters and a validity flag
     // this is used to limit height during optical flow navigation
     // it will return invalid when no limiting is required
@@ -293,7 +293,7 @@ private:
 
     // get the index of the current primary IMU
     uint8_t get_primary_IMU_index(void) const;
-    
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     SITL::SITL *_sitl;
     uint32_t _last_body_odm_update_ms = 0;

libraries/AP_AHRS/AP_AHRS_View.h

@@ -115,7 +115,7 @@ public:
     bool get_relative_position_NED_origin(Vector3f &vec) const {
         return ahrs.get_relative_position_NED_origin(vec);
     }
-    
+
     bool get_relative_position_NE_home(Vector2f &vecNE) const {
         return ahrs.get_relative_position_NE_home(vecNE);
     }
@@ -123,7 +123,7 @@ public:
     bool get_relative_position_NE_origin(Vector2f &vecNE) const {
         return ahrs.get_relative_position_NE_origin(vecNE);
     }
-    
+
     void get_relative_position_D_home(float &posD) const {
         ahrs.get_relative_position_D_home(posD);
     }
@@ -131,7 +131,7 @@ public:
     bool get_relative_position_D_origin(float &posD) const {
         return ahrs.get_relative_position_D_origin(posD);
     }
-    
+
     float groundspeed(void) {
         return ahrs.groundspeed();
     }
@@ -155,7 +155,7 @@ public:
     // rotate a 2D vector from earth frame to body frame
     // in input, x is forward, y is right
     Vector2f rotate_body_to_earth2D(const Vector2f &bf) const;
-    
+
     // return the average size of the roll/pitch error estimate
     // since last call
     float get_error_rp(void) const {
@@ -167,7 +167,7 @@ public:
     float get_error_yaw(void) const {
         return ahrs.get_error_yaw();
     }
-    
+
     float roll;
     float pitch;
     float yaw;