mc att control: ran fix code style script

src/modules/mc_att_control/mc_att_control_base.cpp

@@ -83,10 +83,12 @@ MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
 	_I.identity();
 }
 
-MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase() {
+MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase()
+{
 }
 
-void MulticopterAttitudeControlBase::control_attitude(float dt) {
+void MulticopterAttitudeControlBase::control_attitude(float dt)
+{
 	float yaw_sp_move_rate = 0.0f;
 	_publish_att_sp = false;
 
@@ -124,12 +126,14 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
 						     _v_att_sp.yaw_body + yaw_sp_move_rate * dt);
 			float yaw_offs_max = _params.man_yaw_max / _params.att_p(2);
 			float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw);
+
 			if (yaw_offs < -yaw_offs_max) {
 				_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max);
 
 			} else if (yaw_offs > yaw_offs_max) {
 				_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max);
 			}
+
 			_v_att_sp.R_valid = false;
 			_publish_att_sp = true;
 		}
@@ -259,7 +263,8 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
 	_rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff;
 }
 
-void MulticopterAttitudeControlBase::control_attitude_rates(float dt) {
+void MulticopterAttitudeControlBase::control_attitude_rates(float dt)
+{
 	/* reset integral if disarmed */
 	if (!_armed.armed) {
 		_rates_int.zero();
@@ -295,7 +300,8 @@ void MulticopterAttitudeControlBase::control_attitude_rates(float dt) {
 
 }
 
-void MulticopterAttitudeControlBase::set_actuator_controls() {
+void MulticopterAttitudeControlBase::set_actuator_controls()
+{
 	_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
 	_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
 	_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;

src/modules/mc_att_control/mc_att_control_base.h

@@ -64,7 +64,8 @@
 #define MIN_TAKEOFF_THRUST    0.2f
 #define RATES_I_LIMIT	0.3f
 
-class MulticopterAttitudeControlBase {
+class MulticopterAttitudeControlBase
+{
 public:
 	/**
 	 * Constructor

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -479,8 +479,9 @@ MulticopterAttitudeControl::task_main()
 		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
 
 		/* timed out - periodic check for _task_should_exit */
-		if (pret == 0)
+		if (pret == 0) {
 			continue;
+		}
 
 		/* this is undesirable but not much we can do - might want to flag unhappy status */
 		if (pret < 0) {
@@ -525,6 +526,7 @@ MulticopterAttitudeControl::task_main()
 					if (_att_sp_pub > 0) {
 						orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub,
 							    &_v_att_sp);
+
 					} else {
 						_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint),
 									    &_v_att_sp);
@@ -549,7 +551,8 @@ MulticopterAttitudeControl::task_main()
 				/* attitude controller disabled, poll rates setpoint topic */
 				if (_v_control_mode.flag_control_manual_enabled) {
 					/* manual rates control - ACRO mode */
-					_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max);
+					_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x,
+								    _manual_control_sp.r).emult(_params.acro_rate_max);
 					_thrust_sp = _manual_control_sp.z;
 
 					/* reset yaw setpoint after ACRO */
@@ -632,18 +635,21 @@ MulticopterAttitudeControl::start()
 
 int mc_att_control_main(int argc, char *argv[])
 {
-	if (argc < 1)
+	if (argc < 1) {
 		errx(1, "usage: mc_att_control {start|stop|status}");
+	}
 
 	if (!strcmp(argv[1], "start")) {
 
-		if (mc_att_control::g_control != nullptr)
+		if (mc_att_control::g_control != nullptr) {
 			errx(1, "already running");
+		}
 
 		mc_att_control::g_control = new MulticopterAttitudeControl;
 
-		if (mc_att_control::g_control == nullptr)
+		if (mc_att_control::g_control == nullptr) {
 			errx(1, "alloc failed");
+		}
 
 		if (OK != mc_att_control::g_control->start()) {
 			delete mc_att_control::g_control;
@@ -655,8 +661,9 @@ int mc_att_control_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "stop")) {
-		if (mc_att_control::g_control == nullptr)
+		if (mc_att_control::g_control == nullptr) {
 			errx(1, "not running");
+		}
 
 		delete mc_att_control::g_control;
 		mc_att_control::g_control = nullptr;

src/modules/mc_att_control/mc_att_control_sim.cpp

@@ -46,7 +46,8 @@
 using namespace std;
 #endif
 
-void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double> attitude) {
+void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double> attitude)
+{
 	math::Quaternion quat;
 	quat(0) = (float)attitude.w();
 	quat(1) = (float)attitude.x();
@@ -72,14 +73,16 @@ void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double>
 	_v_att.R_valid = true;
 }
 
-void MulticopterAttitudeControlSim::set_attitude_rates(const Eigen::Vector3d& angular_rate) {
+void MulticopterAttitudeControlSim::set_attitude_rates(const Eigen::Vector3d &angular_rate)
+{
 	// check if this is consistent !!!
 	_v_att.rollspeed  = angular_rate(0);
 	_v_att.pitchspeed = angular_rate(1);
 	_v_att.yawspeed   = angular_rate(2);
 }
 
-void MulticopterAttitudeControlSim::set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference) {
+void MulticopterAttitudeControlSim::set_attitude_reference(const Eigen::Vector4d &control_attitude_thrust_reference)
+{
 	_v_att_sp.roll_body  = control_attitude_thrust_reference(0);
 	_v_att_sp.pitch_body = control_attitude_thrust_reference(1);
 	_v_att_sp.yaw_body   = control_attitude_thrust_reference(2);
@@ -99,7 +102,8 @@ void MulticopterAttitudeControlSim::set_attitude_reference(const Eigen::Vector4d
 	_v_att_sp.R_body[2][2] = Rot_sp(2, 2);
 }
 
-void MulticopterAttitudeControlSim::get_mixer_input(Eigen::Vector4d& motor_inputs) {
+void MulticopterAttitudeControlSim::get_mixer_input(Eigen::Vector4d &motor_inputs)
+{
 	motor_inputs(0) = _actuators.control[0];
 	motor_inputs(1) = _actuators.control[1];
 	motor_inputs(2) = _actuators.control[2];