From 18c3eba82906bf0cc2b3480032cac89c459ce1d9 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 24 Nov 2018 12:21:15 +0900
Subject: [PATCH] AP_OpticalFlow: minor format fix to Pixart driver

---
 .../AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp  | 22 ++++++++-----------
 1 file changed, 9 insertions(+), 13 deletions(-)

diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
index 7994291e6f..da297678e8 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
@@ -86,7 +86,6 @@ AP_OpticalFlow_Pixart::AP_OpticalFlow_Pixart(const char *devname, OpticalFlow &_
     _dev = std::move(hal.spi->get_device(devname));
 }
 
-
 // detect the device
 AP_OpticalFlow_Pixart *AP_OpticalFlow_Pixart::detect(const char *devname, OpticalFlow &_frontend)
 {
@@ -142,10 +141,10 @@ bool AP_OpticalFlow_Pixart::setup_sensor(void)
             debug("Pixart: bad SROM ID: 0x%02x\n", id);
             return false;
         }
-        
+
         reg_write(PIXART_REG_SROM_EN, 0x15);
         hal.scheduler->delay(10);
-    
+
         crc = reg_read16u(PIXART_REG_DOUT_L);
         if (crc != 0xBEEF) {
             debug("Pixart: bad SROM CRC: 0x%04x\n", crc);
@@ -171,7 +170,6 @@ bool AP_OpticalFlow_Pixart::setup_sensor(void)
     return true;
 }
 
-
 // write an 8 bit register
 void AP_OpticalFlow_Pixart::reg_write(uint8_t reg, uint8_t value)
 {
@@ -211,7 +209,6 @@ int16_t AP_OpticalFlow_Pixart::reg_read16s(uint8_t reg)
     return (int16_t)reg_read16u(reg);
 }
 
-
 void AP_OpticalFlow_Pixart::srom_download(void)
 {
     reg_write(0x39, 0x02);
@@ -254,14 +251,13 @@ void AP_OpticalFlow_Pixart::load_configuration(const RegData *init_data, uint16_
     }
 }
 
-
 void AP_OpticalFlow_Pixart::motion_burst(void)
 {
     uint8_t *b = (uint8_t *)&burst;
 
     burst.delta_x = 0;
     burst.delta_y = 0;
-    
+
     _dev->set_chip_select(true);
     uint8_t reg = model==PIXART_3900?PIXART_REG_MOT_BURST:PIXART_REG_MOT_BURST2;
 
@@ -300,7 +296,7 @@ void AP_OpticalFlow_Pixart::timer(void)
         integral.last_frame_us = last_burst_us;
         integral.gyro += Vector2f(gyro.x, gyro.y) * dt;
     }
-    
+
 #if 0
     static uint32_t last_print_ms;
     static int fd = -1;
@@ -312,7 +308,7 @@ void AP_OpticalFlow_Pixart::timer(void)
     static int32_t sum_y;
     sum_x += burst.delta_x;
     sum_y += burst.delta_y;
-    
+
     uint32_t now = AP_HAL::millis();
     if (now - last_print_ms >= 100 && (sum_x != 0 || sum_y != 0)) {
         last_print_ms = now;
@@ -332,11 +328,11 @@ void AP_OpticalFlow_Pixart::update(void)
         return;
     }
     last_update_ms = now;
-    
+
     struct OpticalFlow::OpticalFlow_state state;
     state.device_id = 1;
     state.surface_quality = burst.squal;
-    
+
     if (integral.sum_us > 0) {
         WITH_SEMAPHORE(_sem);
 
@@ -344,14 +340,14 @@ void AP_OpticalFlow_Pixart::update(void)
         float flowScaleFactorX = 1.0f + 0.001f * flowScaler.x;
         float flowScaleFactorY = 1.0f + 0.001f * flowScaler.y;
         float dt = integral.sum_us * 1.0e-6;
-        
+
         state.flowRate = Vector2f(integral.sum.x * flowScaleFactorX,
                                   integral.sum.y * flowScaleFactorY);
         state.flowRate *= flow_pixel_scaling / dt;
 
         // we only apply yaw to flowRate as body rate comes from AHRS
         _applyYaw(state.flowRate);
-        
+
         state.bodyRate = integral.gyro / dt;
 
         integral.sum.zero();