uncrustify libraries/AP_IMU/AP_IMU_Shim.h

libraries/AP_IMU/AP_IMU_Shim.h

@@ -11,72 +11,99 @@
 class AP_IMU_Shim : public IMU
 {
 public:
-	AP_IMU_Shim(void) {
-		_product_id = AP_PRODUCT_ID_NONE;
-	}
-	
+    AP_IMU_Shim(void) {
+        _product_id = AP_PRODUCT_ID_NONE;
+    }
+
+
+    /// @name IMU protocol
+    //@{
+    virtual void        init(Start_style            style = COLD_START,
+                             void                   (*callback)(unsigned long t) = delay,
+                             void                   (*flash_leds_cb)(bool on) = NULL,
+                             AP_PeriodicProcess *   scheduler = NULL) {
+    };
+    virtual void        init_accel(void (*callback)(unsigned long t) = delay,
+                                   void (*flash_leds_cb)(bool on) = NULL) {
+    };
+    virtual void        init_gyro(void  (*callback)(unsigned long t) = delay,
+                                  void  (*flash_leds_cb)(bool on) = NULL) {
+    };
+    virtual bool        update(void) {
+        bool        updated = _updated;
+        _updated = false;
 
-	/// @name IMU protocol
-	//@{
-    virtual void	init(Start_style style = COLD_START, 
-						 void (*callback)(unsigned long t) = delay,
-						 void (*flash_leds_cb)(bool on) = NULL,
-						 AP_PeriodicProcess *scheduler = NULL) {};
-	virtual void	init_accel(void (*callback)(unsigned long t) = delay,
-							   void (*flash_leds_cb)(bool on) = NULL) {};
-	virtual void	init_gyro(void (*callback)(unsigned long t) = delay,
-							  void (*flash_leds_cb)(bool on) = NULL) {};
-	virtual bool	update(void) {
-		bool updated = _updated;
-		_updated = false;
-        
         // return number of microseconds since last call
-        uint32_t us = micros();
-        uint32_t ret = us - last_ch6_micros;
+        uint32_t        us = micros();
+        uint32_t        ret = us - last_ch6_micros;
         last_ch6_micros = us;
-        
+
         _sample_time = ret;
-		return updated;
-	}
-	//@}
+        return updated;
+    }
+    //@}
 
-	virtual bool new_data_available(void) { return true; }
-	
-	float		gx()				{ return 0; }
-	float		gy()				{ return 0; }
-	float		gz()				{ return 0; }
-	float		ax()				{ return 0; }
-	float		ay()				{ return 0; }
-	float		az()				{ return 0; }
+    virtual bool        new_data_available(void) {
+        return true;
+    }
 
-	void		ax(const int v)		{  }
-	void		ay(const int v)		{  }
-	void		az(const int v)		{  }
+    float           gx()                            {
+        return 0;
+    }
+    float           gy()                            {
+        return 0;
+    }
+    float           gz()                            {
+        return 0;
+    }
+    float           ax()                            {
+        return 0;
+    }
+    float           ay()                            {
+        return 0;
+    }
+    float           az()                            {
+        return 0;
+    }
 
-	/// Set the gyro vector.  ::update will return
-	/// true once after this call.
-	///
-	/// @param	v		The new gyro vector.
-	///
-	void		set_gyro(Vector3f v) { _gyro = v; _updated = true; }
+    void        ax(const int v)         {
+    }
+    void        ay(const int v)         {
+    }
+    void        az(const int v)         {
+    }
 
-	/// Set the accelerometer vector.  ::update will return
-	/// true once after this call.
-	///
-	/// @param	v		The new accelerometer vector.
-	///
-	void		set_accel(Vector3f v) { _accel = v; _updated = true; }
+    /// Set the gyro vector.  ::update will return
+    /// true once after this call.
+    ///
+    /// @param	v		The new gyro vector.
+    ///
+    void        set_gyro(Vector3f v) {
+        _gyro = v; _updated = true;
+    }
 
-	// dummy save method
-	void		save(void) { }
+    /// Set the accelerometer vector.  ::update will return
+    /// true once after this call.
+    ///
+    /// @param	v		The new accelerometer vector.
+    ///
+    void        set_accel(Vector3f v) {
+        _accel = v; _updated = true;
+    }
+
+    // dummy save method
+    void            save(void) {
+    }
+
+    float           get_gyro_drift_rate(void) {
+        return 0;
+    }
 
-	float get_gyro_drift_rate(void) { return 0; }
 
-	
 private:
-	/// set true when new data is delivered
-	bool		_updated;
-    uint32_t    last_ch6_micros;
+    /// set true when new data is delivered
+    bool            _updated;
+    uint32_t        last_ch6_micros;
 };
 
 #endif