Code style fix

src/drivers/gps/ashtech.cpp

@@ -25,17 +25,24 @@ char*  str_scanDec(const char *pos, int8_t sign, int8_t n_max_digit, int32_t *re
 	int8_t neg = 0;
 
 	if (*pos == '-') { neg = 1; pos++; }
+
 	else if (*pos == '+')     { pos++; }
-  else if(sign) return(NULL);
+
-  while(*pos >= '0' && *pos <= '9')
+	else if (sign) { return (NULL); }
-  {
+
+	while (*pos >= '0' && *pos <= '9') {
 		d = d * 10 + (*(pos++) - '0');
 		n++;
-     if(n_max_digit>0 && n==n_max_digit) break;
+
+		if (n_max_digit > 0 && n == n_max_digit) { break; }
 	}
-  if(n==0 || n>10) return(NULL);
+
-  if(neg) *result = -d;
+	if (n == 0 || n > 10) { return (NULL); }
-  else    *result =  d;
+
+	if (neg) { *result = -d; }
+
+	else { *result =  d; }
+
 	return ((char *)pos);
 }
 
@@ -46,22 +53,27 @@ char*  scanFloat64(const char *pos, int8_t sign, int8_t n_max_int, int8_t n_max_
 	int32_t d_int;
 	int8_t n = 0, isneg = 0;
 
-  if( *pos == '-' ) isneg= 1;
+	if (*pos == '-') { isneg = 1; }
-  if((pos = str_scanDec(pos, sign, n_max_int, &d_int)) == NULL) return(NULL);
+
-  if(*(pos) == '.')
+	if ((pos = str_scanDec(pos, sign, n_max_int, &d_int)) == NULL) { return (NULL); }
-  {
+
+	if (*(pos) == '.') {
 		pos++;
-     while(*pos >= '0' && *pos <= '9')
+
-     {
+		while (*pos >= '0' && *pos <= '9') {
 			f = f * (10.0) + (float64_t)(*(pos++) - '0');
 			div *= (0.1);
 			n++;
-        if(n_max_frac>0 && n==n_max_frac) break;
+
+			if (n_max_frac > 0 && n == n_max_frac) { break; }
 		}
-  }
+
-  else if(n_max_frac > 0) return(NULL);
+	} else if (n_max_frac > 0) { return (NULL); }
-  if( isneg ) *result = (float64_t)d_int - f*div;
+
-  else        *result = (float64_t)d_int + f*div;
+	if (isneg) { *result = (float64_t)d_int - f * div; }
+
+	else { *result = (float64_t)d_int + f * div; }
+
 	return ((char *)pos);
 }
 
@@ -77,16 +89,25 @@ _gps_position(gps_position)
 	_rx_buffer_bytes = 0;
 }
 
-ASHTECH::~ASHTECH(){
+ASHTECH::~ASHTECH()
+{
 }
-//All NMEA descriptions are taken from
+
-//http://www.trimble.com/OEM_ReceiverHelp/V4.44/en/NMEA-0183messages_MessageOverview.html
+/*
-int ASHTECH::handle_message(int len){
+ * All NMEA descriptions are taken from
-  if(len < 7) return 0;
+ * http://www.trimble.com/OEM_ReceiverHelp/V4.44/en/NMEA-0183messages_MessageOverview.html
+ */
+
+int ASHTECH::handle_message(int len)
+{
+	if (len < 7) { return 0; }
+
 	int uiCalcComma = 0;
+
 	for (int i = 0 ; i < len; i++) {
-    if(_rx_buffer[i] == ',')uiCalcComma++;
+		if (_rx_buffer[i] == ',') { uiCalcComma++; }
 	}
+
 	char *bufptr = (char *)(_rx_buffer + 6);
 
 	if ((memcmp(_rx_buffer + 3, "ZDA,", 3) == 0) && (uiCalcComma == 6)) {
@@ -110,18 +131,26 @@ int ASHTECH::handle_message(int len){
 		*/
 		float64_t ashtech_time = 0.0;
 		int day = 0, month = 0, year = 0, local_time_off_hour = 0, local_time_off_min = 0;
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&ashtech_time);
+
-      if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &day);
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &ashtech_time); }
-      if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &month);
+
-      if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &year);
+		if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &day); }
-      if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &local_time_off_hour);
+
-      if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &local_time_off_min);
+		if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &month); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &year); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &local_time_off_hour); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &local_time_off_min); }
 
 
 		int ashtech_hour = ashtech_time / 10000;
 		int ashtech_minute = (ashtech_time - ashtech_hour * 10000) / 100;
 		float64_t ashtech_sec = ashtech_time - ashtech_hour * 10000 - ashtech_minute * 100;
-      //convert to unix timestamp
+		/*
+		 * convert to unix timestamp
+		 */
 		struct tm timeinfo;
 		timeinfo.tm_year = year - 1900;
 		timeinfo.tm_mon = month - 1;
@@ -179,20 +208,31 @@ int ASHTECH::handle_message(int len){
 		float64_t hdop = 99.9;
 		char ns = '?', ew = '?';
 
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&ashtech_time);
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &ashtech_time); }
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&lat);
-      if(bufptr && *(++bufptr) != ',') ns = *(bufptr++);
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&lon);
-      if(bufptr && *(++bufptr) != ',') ew = *(bufptr++);
-      if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &fix_quality);
-      if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &num_of_sv);
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&hdop);
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&alt);
 
-      if(ns == 'S')
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &lat); }
+
+		if (bufptr && *(++bufptr) != ',') { ns = *(bufptr++); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &lon); }
+
+		if (bufptr && *(++bufptr) != ',') { ew = *(bufptr++); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &fix_quality); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &num_of_sv); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &hdop); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &alt); }
+
+		if (ns == 'S') {
 			lat = -lat;
-      if(ew == 'W')
+		}
+
+		if (ew == 'W') {
 			lon = -lon;
+		}
 
 		_gps_position->lat = (int(lat * 0.01) + (lat * 0.01 - int(lat * 0.01)) * 100.0 / 60.0) * 10000000;
 		_gps_position->lon = (int(lon * 0.01) + (lon * 0.01 - int(lon * 0.01)) * 100.0 / 60.0) * 10000000;
@@ -201,9 +241,10 @@ int ASHTECH::handle_message(int len){
 
 		if ((lat == 0.0) && (lon == 0.0) && (alt == 0.0)) {
 			_gps_position->fix_type = 0;
-      }
+
-      else
+		} else {
 			_gps_position->fix_type = 3 + fix_quality;
+		}
 
 		_gps_position->timestamp_position = hrt_absolute_time();
 
@@ -211,13 +252,14 @@ int ASHTECH::handle_message(int len){
 		_gps_position->vel_n_m_s = 0;                                /**< GPS ground speed in m/s */
 		_gps_position->vel_e_m_s = 0;                                /**< GPS ground speed in m/s */
 		_gps_position->vel_d_m_s = 0;                                /**< GPS ground speed in m/s */
-      _gps_position->cog_rad = 0;                                  /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
+		_gps_position->cog_rad =
+			0;                                  /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
 		_gps_position->vel_ned_valid = true;                         /**< Flag to indicate if NED speed is valid */
 		_gps_position->c_variance_rad = 0.1;
 		_gps_position->timestamp_velocity = hrt_absolute_time();
 		return 1;
-  }
+
-  else if ((memcmp(_rx_buffer, "$PASHR,POS,", 11) == 0) && (uiCalcComma == 18)) {
+	} else if ((memcmp(_rx_buffer, "$PASHR,POS,", 11) == 0) && (uiCalcComma == 18)) {
 		/*
 		Example $PASHR,POS,2,10,125410.00,5525.8138702,N,03833.9587380,E,131.555,1.0,0.0,0.007,-0.001,2.0,1.0,1.7,1.0,*34
 
@@ -254,27 +296,45 @@ int ASHTECH::handle_message(int len){
 		float64_t hdop = 99.9, vdop = 99.9,  pdop = 99.9, tdop = 99.9, vertic_vel = 0.0;
 		char ns = '?', ew = '?';
 
-      if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &fix_quality);
+		if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &fix_quality); }
-      if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &num_of_sv);
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&ashtech_time);
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&lat);
-      if(bufptr && *(++bufptr) != ',') ns = *(bufptr++);
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&lon);
-      if(bufptr && *(++bufptr) != ',') ew = *(bufptr++);      
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&alt);
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&age_of_corr);
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&track_true);
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&ground_speed);
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&vertic_vel);      
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&pdop);
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&hdop);
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&vdop);
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&tdop);
 
-      if(ns == 'S')
+		if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &num_of_sv); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &ashtech_time); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &lat); }
+
+		if (bufptr && *(++bufptr) != ',') { ns = *(bufptr++); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &lon); }
+
+		if (bufptr && *(++bufptr) != ',') { ew = *(bufptr++); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &alt); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &age_of_corr); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &track_true); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &ground_speed); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &vertic_vel); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &pdop); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &hdop); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &vdop); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &tdop); }
+
+		if (ns == 'S') {
 			lat = -lat;
-      if(ew == 'W')
+		}
+
+		if (ew == 'W') {
 			lon = -lon;
+		}
 
 		_gps_position->lat = (int(lat * 0.01) + (lat * 0.01 - int(lat * 0.01)) * 100.0 / 60.0) * 10000000;
 		_gps_position->lon = (int(lon * 0.01) + (lon * 0.01 - int(lon * 0.01)) * 100.0 / 60.0) * 10000000;
@@ -283,9 +343,10 @@ int ASHTECH::handle_message(int len){
 
 		if ((lat == 0.0) && (lon == 0.0) && (alt == 0.0)) {
 			_gps_position->fix_type = 0;
-      }
+
-      else
+		} else {
 			_gps_position->fix_type = 3 + fix_quality;
+		}
 
 		_gps_position->timestamp_position = hrt_absolute_time();
 
@@ -301,14 +362,14 @@ int ASHTECH::handle_message(int len){
 		_gps_position->vel_n_m_s = velocity_north;                       /**< GPS ground speed in m/s */
 		_gps_position->vel_e_m_s = velocity_east;                        /**< GPS ground speed in m/s */
 		_gps_position->vel_d_m_s = -vertic_vel;                      /**< GPS ground speed in m/s */
-		_gps_position->cog_rad = track_rad;                              /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
+		_gps_position->cog_rad =
+			track_rad;                              /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
 		_gps_position->vel_ned_valid = true;                             /**< Flag to indicate if NED speed is valid */
 		_gps_position->c_variance_rad = 0.1;
 		_gps_position->timestamp_velocity = hrt_absolute_time();
 		return 1;
 
-  }
+	} else if ((memcmp(_rx_buffer + 3, "GST,", 3) == 0) && (uiCalcComma == 8)) {
-  else if((memcmp(_rx_buffer+3, "GST,",3) == 0)&&(uiCalcComma == 8)){
 		/*
 		  Position error statistics
 		  An example of the GST message string is:
@@ -336,22 +397,29 @@ int ASHTECH::handle_message(int len){
 		float64_t ashtech_time = 0.0, lat_err = 0.0, lon_err = 0.0, alt_err = 0.0;
 		float64_t min_err = 0.0, maj_err = 0.0, deg_from_north = 0.0, rms_err = 0.0;
 
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&ashtech_time);
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &ashtech_time); }
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&rms_err);
+
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&maj_err);
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &rms_err); }
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&min_err);
+
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&deg_from_north);
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &maj_err); }
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&lat_err);
+
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&lon_err);
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &min_err); }
-      if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&alt_err);
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &deg_from_north); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &lat_err); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &lon_err); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = scanFloat64(bufptr, 0, 9, 9, &alt_err); }
 
 		_gps_position->eph = sqrt(lat_err * lat_err + lon_err * lon_err);
 		_gps_position->epv = alt_err;
 
 		_gps_position->s_variance_m_s = 0;
 		_gps_position->timestamp_variance = hrt_absolute_time();
-  }
+
-  else if((memcmp(_rx_buffer+3, "VTG,",3) == 0)&&(uiCalcComma == 9)){
+	} else if ((memcmp(_rx_buffer + 3, "VTG,", 3) == 0) && (uiCalcComma == 9)) {
 		/*
 		  Track made good and speed over ground
 		  An example of the VTG message string is:
@@ -387,8 +455,7 @@ int ASHTECH::handle_message(int len){
 			   float64_t tan_C = tan(track_true * dPI / 180.0);
 			   float64_t lat_ = sqrt(ground_speed*ground_speed/ (1+tan_C)); //km/hour
 			   float64_t lon_ = lat_*tan_C; //		 	                        //km/hour*/
-  }
+	} else if ((memcmp(_rx_buffer + 3, "GSV,", 3) == 0)) {
-  else if((memcmp(_rx_buffer+3, "GSV,",3) == 0)){
 		/*
 		  The GSV message string identifies the number of SVs in view, the PRN numbers, elevations, azimuths, and SNR values. An example of the GSV message string is:
 
@@ -409,13 +476,18 @@ int ASHTECH::handle_message(int len){
 		  16-19   Information about fourth SV, same format as fields 4 through 7
 		  20  The checksum data, always begins with *
 		*/
-// currently process only gps, because do not know what 
+		/*
-// Global satellite ID I should use for non GPS sats
+		 * currently process only gps, because do not know what
+		 * Global satellite ID I should use for non GPS sats
+		 */
 		bool bGPS = false;
-    if(memcmp(_rx_buffer, "$GP",3) != 0) 
+
+		if (memcmp(_rx_buffer, "$GP", 3) != 0) {
 			return 0;
-    else
+
+		} else {
 			bGPS = true;
+		}
 
 		int all_msg_num, this_msg_num, tot_sv_visible;
 		struct gsv_sat {
@@ -426,12 +498,16 @@ int ASHTECH::handle_message(int len){
 		} sat[4];
 		memset(sat, 0, sizeof(sat));
 
-    if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &all_msg_num);
+		if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &all_msg_num); }
-    if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &this_msg_num);
+
-    if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &tot_sv_visible);
+		if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &this_msg_num); }
+
+		if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &tot_sv_visible); }
+
 		if ((this_msg_num < 1) || (this_msg_num > all_msg_num)) {
 			return 0;
 		}
+
 		if ((this_msg_num == 0) && (bGPS == true)) {
 			memset(_satellite_info->svid,     0, sizeof(_satellite_info->svid));
 			memset(_satellite_info->used,     0, sizeof(_satellite_info->used));
@@ -441,17 +517,22 @@ int ASHTECH::handle_message(int len){
 		}
 
 		int end = 4;
+
 		if (this_msg_num == all_msg_num) {
 			end =  tot_sv_visible - (this_msg_num - 1) * 4;
 			_gps_position->satellites_used = tot_sv_visible;
 			_satellite_info->count = SAT_INFO_MAX_SATELLITES;
 			_satellite_info->timestamp = hrt_absolute_time();
 		}
+
 		for (int y = 0 ; y < end ; y++) {
-      if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &sat[y].svid);
+			if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &sat[y].svid); }
-      if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &sat[y].elevation);
+
-      if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &sat[y].azimuth);
+			if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &sat[y].elevation); }
-      if(bufptr && *(++bufptr) != ',') bufptr = str_scanDec(bufptr, 0, 9, &sat[y].snr);
+
+			if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &sat[y].azimuth); }
+
+			if (bufptr && *(++bufptr) != ',') { bufptr = str_scanDec(bufptr, 0, 9, &sat[y].snr); }
 
 			_satellite_info->svid[y + (this_msg_num - 1) * 4]      = sat[y].svid;
 			_satellite_info->used[y + (this_msg_num - 1) * 4]      = ((sat[y].snr > 0) ? true : false);
@@ -465,7 +546,8 @@ int ASHTECH::handle_message(int len){
 }
 
 
-int ASHTECH::receive(unsigned timeout){
+int ASHTECH::receive(unsigned timeout)
+{
 	{
 		/* poll descriptor */
 		pollfd fds[1];
@@ -485,16 +567,20 @@ int ASHTECH::receive(unsigned timeout){
 			/* pass received bytes to the packet decoder */
 			while (j < count) {
 				int l = 0;
+
 				if ((l = parse_char(buf[j])) > 0) {
 					/* return to configure during configuration or to the gps driver during normal work
 					 * if a packet has arrived */
-                 if (handle_message(l) > 0)
+					if (handle_message(l) > 0) {
 						return 1;
 					}
+				}
+
 				/* in case we keep trying but only get crap from GPS */
 				if (time_started + timeout * 1000 * 2 < hrt_absolute_time()) {
 					return -1;
 				}
+
 				j++;
 			}
 
@@ -557,8 +643,9 @@ int ASHTECH::parse_char(uint8_t b)
 			_decode_state = NME_DECODE_UNINIT;
 			_rx_buffer_bytes = 0;
 
-		} else
+		} else {
 			_rx_buffer[_rx_buffer_bytes++] = b;
+		}
 
 		break;
 
@@ -573,7 +660,7 @@ int ASHTECH::parse_char(uint8_t b)
 		uint8_t *buffer = _rx_buffer + 1;
 		uint8_t *bufend = _rx_buffer + _rx_buffer_bytes - 3;
 
-		for (; buffer < bufend; buffer++) checksum ^= *buffer;
+		for (; buffer < bufend; buffer++) { checksum ^= *buffer; }
 
 		if ((HEXDIGIT_CHAR(checksum >> 4) == *(_rx_buffer + _rx_buffer_bytes - 2)) &&
 		    (HEXDIGIT_CHAR(checksum & 0x0F) == *(_rx_buffer + _rx_buffer_bytes - 1))) {
@@ -588,12 +675,15 @@ int ASHTECH::parse_char(uint8_t b)
 	return iRet;
 }
 
-void ASHTECH::decode_init(void){
+void ASHTECH::decode_init(void)
+{
 
 }
 
-//ashtech boad configuration script 
+/* 
-//char comm[] = "$PASHS,NME,GGA,A,ON,0.1\r\n"
+ * ashtech boad configuration script 
+ */
+
 char comm[] = "$PASHS,POP,20\r\n"\
 	      "$PASHS,NME,ZDA,B,ON,3\r\n"\
 	      "$PASHS,NME,GGA,B,OFF\r\n"\
@@ -601,9 +691,10 @@ char comm[] = "$PASHS,POP,20\r\n"\
 	      "$PASHS,NME,POS,B,ON,0.05\r\n"\
 	      "$PASHS,NME,GSV,B,ON,3\r\n"\
 	      "$PASHS,SPD,A,8\r\n"\
-              "$PASHS,SPD,B,9\r\n"; // default baud is 7
+	      "$PASHS,SPD,B,9\r\n";
 
-int ASHTECH::configure(unsigned &baudrate){
+int ASHTECH::configure(unsigned &baudrate)
+{
 	/* try different baudrates */
 	const unsigned baudrates_to_try[] = {9600, 38400, 19200, 57600, 115200};
 

src/drivers/gps/ashtech.h

@@ -67,8 +67,8 @@ class ASHTECH : public GPS_Helper
 	bool                  _parse_error; // parse error flag
 	char                 *_parse_pos; // parse position
 
-    bool	_gsv_in_progress;					// Indicates that gsv data parsing is in progress
+	bool	_gsv_in_progress;			/**< Indicates that gsv data parsing is in progress */
-	//int     _satellites_count; 				// Number of satellites info parsed.
+	//int     _satellites_count; 			/**< Number of satellites info parsed. */
 	uint8_t count;					/**< Number of satellites in satellite info */
 	uint8_t svid[SAT_INFO_MAX_SATELLITES]; 		/**< Space vehicle ID [1..255], see scheme below  */
 	uint8_t used[SAT_INFO_MAX_SATELLITES];		/**< 0: Satellite not used, 1: used for navigation */

src/drivers/gps/gps.cpp

@@ -343,7 +343,6 @@ GPS::task_main()
 				break;
 
 			case GPS_DRIVER_MODE_ASHTECH:
-
 				_Helper = new ASHTECH(_serial_fd, &_report_gps_pos, _p_report_sat_info);
 				break;