copyright and code style fixes

src/lib/geo/geo.c

@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012, 2014 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
- *           Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -42,6 +39,7 @@
  * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  * @author Julian Oes <joes@student.ethz.ch>
  * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <geo/geo.h>
@@ -200,7 +198,7 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error,
 	crosstrack_error->bearing = 0.0f;
 
 	// Return error if arguments are bad
-	if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) return return_value;
+	if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) { return return_value; }
 
 	bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
 	bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end);
@@ -251,29 +249,29 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, d
 	crosstrack_error->bearing = 0.0f;
 
 	// Return error if arguments are bad
-	if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) return return_value;
+	if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) { return return_value; }
 
 
 	if (arc_sweep >= 0) {
 		bearing_sector_start = arc_start_bearing;
 		bearing_sector_end = arc_start_bearing + arc_sweep;
 
-		if (bearing_sector_end > 2.0f * M_PI_F) bearing_sector_end -= M_TWOPI_F;
+		if (bearing_sector_end > 2.0f * M_PI_F) { bearing_sector_end -= M_TWOPI_F; }
 
 	} else {
 		bearing_sector_end = arc_start_bearing;
 		bearing_sector_start = arc_start_bearing - arc_sweep;
 
-		if (bearing_sector_start < 0.0f) bearing_sector_start += M_TWOPI_F;
+		if (bearing_sector_start < 0.0f) { bearing_sector_start += M_TWOPI_F; }
 	}
 
 	in_sector = false;
 
 	// Case where sector does not span zero
-	if (bearing_sector_end >= bearing_sector_start && bearing_now >= bearing_sector_start && bearing_now <= bearing_sector_end) in_sector = true;
+	if (bearing_sector_end >= bearing_sector_start && bearing_now >= bearing_sector_start && bearing_now <= bearing_sector_end) { in_sector = true; }
 
 	// Case where sector does span zero
-	if (bearing_sector_end < bearing_sector_start && (bearing_now > bearing_sector_start || bearing_now < bearing_sector_end)) in_sector = true;
+	if (bearing_sector_end < bearing_sector_start && (bearing_now > bearing_sector_start || bearing_now < bearing_sector_end)) { in_sector = true; }
 
 	// If in the sector then calculate distance and bearing to closest point
 	if (in_sector) {
@@ -375,18 +373,24 @@ __EXPORT float _wrap_pi(float bearing)
 	}
 
 	int c = 0;
+
 	while (bearing > M_PI_F) {
 		bearing -= M_TWOPI_F;
-		if (c++ > 3)
+
+		if (c++ > 3) {
 			return NAN;
 		}
+	}
 
 	c = 0;
+
 	while (bearing <= -M_PI_F) {
 		bearing += M_TWOPI_F;
-		if (c++ > 3)
+
+		if (c++ > 3) {
 			return NAN;
 		}
+	}
 
 	return bearing;
 }
@@ -399,18 +403,24 @@ __EXPORT float _wrap_2pi(float bearing)
 	}
 
 	int c = 0;
+
 	while (bearing > M_TWOPI_F) {
 		bearing -= M_TWOPI_F;
-		if (c++ > 3)
+
+		if (c++ > 3) {
 			return NAN;
 		}
+	}
 
 	c = 0;
+
 	while (bearing <= 0.0f) {
 		bearing += M_TWOPI_F;
-		if (c++ > 3)
+
+		if (c++ > 3) {
 			return NAN;
 		}
+	}
 
 	return bearing;
 }
@@ -423,18 +433,24 @@ __EXPORT float _wrap_180(float bearing)
 	}
 
 	int c = 0;
+
 	while (bearing > 180.0f) {
 		bearing -= 360.0f;
-		if (c++ > 3)
+
+		if (c++ > 3) {
 			return NAN;
 		}
+	}
 
 	c = 0;
+
 	while (bearing <= -180.0f) {
 		bearing += 360.0f;
-		if (c++ > 3)
+
+		if (c++ > 3) {
 			return NAN;
 		}
+	}
 
 	return bearing;
 }
@@ -447,18 +463,24 @@ __EXPORT float _wrap_360(float bearing)
 	}
 
 	int c = 0;
+
 	while (bearing > 360.0f) {
 		bearing -= 360.0f;
-		if (c++ > 3)
+
+		if (c++ > 3) {
 			return NAN;
 		}
+	}
 
 	c = 0;
+
 	while (bearing <= 0.0f) {
 		bearing += 360.0f;
-		if (c++ > 3)
+
+		if (c++ > 3) {
 			return NAN;
 		}
+	}
 
 	return bearing;
 }

src/lib/geo/geo.h

@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012, 2014 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
- *           Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -42,6 +39,7 @@
  * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  * @author Julian Oes <joes@student.ethz.ch>
  * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  * Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
  */
 

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
- *   Author: @author Anton Babushkin <anton.babushkin@me.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -40,6 +39,8 @@
  * Output of velocity controller is thrust vector that splitted to thrust direction
  * (i.e. rotation matrix for multicopter orientation) and thrust module (i.e. multicopter thrust itself).
  * Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <nuttx/config.h>
@@ -355,8 +356,9 @@ MulticopterPositionControl::parameters_update(bool force)
 
 	orb_check(_params_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(parameter_update), _params_sub, &param_upd);
+	}
 
 	if (updated || force) {
 		param_get(_params_handles.thr_min, &_params.thr_min);
@@ -412,34 +414,40 @@ MulticopterPositionControl::poll_subscriptions()
 
 	orb_check(_att_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
+	}
 
 	orb_check(_att_sp_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(vehicle_attitude_setpoint), _att_sp_sub, &_att_sp);
+	}
 
 	orb_check(_control_mode_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
+	}
 
 	orb_check(_manual_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual);
+	}
 
 	orb_check(_arming_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(actuator_armed), _arming_sub, &_arming);
+	}
 
 	orb_check(_local_pos_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(vehicle_local_position), _local_pos_sub, &_local_pos);
 	}
+}
 
 float
 MulticopterPositionControl::scale_control(float ctl, float end, float dz)
@@ -550,8 +558,9 @@ MulticopterPositionControl::task_main()
 		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500);
 
 		/* timed out - periodic check for _task_should_exit */
-		if (pret == 0)
+		if (pret == 0) {
 			continue;
+		}
 
 		/* this is undesirable but not much we can do */
 		if (pret < 0) {
@@ -653,8 +662,9 @@ MulticopterPositionControl::task_main()
 				bool updated;
 				orb_check(_pos_sp_triplet_sub, &updated);
 
-				if (updated)
+				if (updated) {
 					orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
+				}
 
 				if (_pos_sp_triplet.current.valid) {
 					/* in case of interrupted mission don't go to waypoint but stay at current position */
@@ -832,9 +842,10 @@ MulticopterPositionControl::task_main()
 						/* limit max tilt and min lift when landing */
 						tilt_max = _params.land_tilt_max;
 
-						if (thr_min < 0.0f)
+						if (thr_min < 0.0f) {
 							thr_min = 0.0f;
 						}
+					}
 
 					/* limit min lift */
 					if (-thrust_sp(2) < thr_min) {
@@ -924,9 +935,10 @@ MulticopterPositionControl::task_main()
 						thrust_int(2) += vel_err(2) * _params.vel_i(2) * dt;
 
 						/* protection against flipping on ground when landing */
-						if (thrust_int(2) > 0.0f)
+						if (thrust_int(2) > 0.0f) {
 							thrust_int(2) = 0.0f;
 						}
+					}
 
 					/* calculate attitude setpoint from thrust vector */
 					if (_control_mode.flag_control_velocity_enabled) {
@@ -1045,18 +1057,21 @@ MulticopterPositionControl::start()
 
 int mc_pos_control_main(int argc, char *argv[])
 {
-	if (argc < 1)
+	if (argc < 1) {
 		errx(1, "usage: mc_pos_control {start|stop|status}");
+	}
 
 	if (!strcmp(argv[1], "start")) {
 
-		if (pos_control::g_control != nullptr)
+		if (pos_control::g_control != nullptr) {
 			errx(1, "already running");
+		}
 
 		pos_control::g_control = new MulticopterPositionControl;
 
-		if (pos_control::g_control == nullptr)
+		if (pos_control::g_control == nullptr) {
 			errx(1, "alloc failed");
+		}
 
 		if (OK != pos_control::g_control->start()) {
 			delete pos_control::g_control;
@@ -1068,8 +1083,9 @@ int mc_pos_control_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "stop")) {
-		if (pos_control::g_control == nullptr)
+		if (pos_control::g_control == nullptr) {
 			errx(1, "not running");
+		}
 
 		delete pos_control::g_control;
 		pos_control::g_control = nullptr;

src/modules/position_estimator_inav/position_estimator_inav_main.c

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
+ *   Copyright (C) 2013, 2014 PX4 Development Team. All rights reserved.
- *   Author: 	Anton Babushkin	<rk3dov@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +34,8 @@
 /**
  * @file position_estimator_inav_main.c
  * Model-identification based position estimator for multirotors
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <unistd.h>
@@ -95,8 +96,9 @@ static void usage(const char *reason);
  */
 static void usage(const char *reason)
 {
-	if (reason)
+	if (reason) {
 		fprintf(stderr, "%s\n", reason);
+	}
 
 	fprintf(stderr, "usage: position_estimator_inav {start|stop|status} [-v]\n\n");
 	exit(1);
@@ -112,8 +114,9 @@ static void usage(const char *reason)
  */
 int position_estimator_inav_main(int argc, char *argv[])
 {
-	if (argc < 1)
+	if (argc < 1) {
 		usage("missing command");
+	}
 
 	if (!strcmp(argv[1], "start")) {
 		if (thread_running) {
@@ -125,8 +128,9 @@ int position_estimator_inav_main(int argc, char *argv[])
 		verbose_mode = false;
 
 		if (argc > 1)
-			if (!strcmp(argv[2], "-v"))
+			if (!strcmp(argv[2], "-v")) {
 				verbose_mode = true;
+			}
 
 		thread_should_exit = false;
 		position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
@@ -163,8 +167,10 @@ int position_estimator_inav_main(int argc, char *argv[])
 	exit(1);
 }
 
-void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3], float z_est[3], float corr_acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v) {
+void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3], float z_est[3], float corr_acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v)
+{
 	FILE *f = fopen("/fs/microsd/inav.log", "a");
+
 	if (f) {
 		char *s = malloc(256);
 		unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f %.5f] y_est=[%.5f %.5f %.5f] z_est=[%.5f %.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2], z_est[0], z_est[1], z_est[2]);
@@ -173,6 +179,7 @@ void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3],
 		fwrite(s, 1, n, f);
 		free(s);
 	}
+
 	fsync(fileno(f));
 	fclose(f);
 }
@@ -505,8 +512,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 					/* if flow is not accurate, reduce weight for it */
 					// TODO make this more fuzzy
-					if (!flow_accurate)
+					if (!flow_accurate) {
 						w_flow *= 0.05f;
+					}
 
 					flow_valid = true;
 

src/modules/uORB/topics/vehicle_local_position.h

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +34,9 @@
 /**
  * @file vehicle_local_position.h
  * Definition of the local fused NED position uORB topic.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_