Code style

apps/commander/calibration_routines.c

@@ -45,172 +45,175 @@
 
 
 int sphere_fit_least_squares(const float x[], const float y[], const float z[],
-    unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius) {
+			     unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius)
+{
 
-    float x_sumplain = 0.0f;
+	float x_sumplain = 0.0f;
-    float x_sumsq = 0.0f;
+	float x_sumsq = 0.0f;
-    float x_sumcube = 0.0f;
+	float x_sumcube = 0.0f;
 
-    float y_sumplain = 0.0f;
+	float y_sumplain = 0.0f;
-    float y_sumsq = 0.0f;
+	float y_sumsq = 0.0f;
-    float y_sumcube = 0.0f;
+	float y_sumcube = 0.0f;
 
-    float z_sumplain = 0.0f;
+	float z_sumplain = 0.0f;
-    float z_sumsq = 0.0f;
+	float z_sumsq = 0.0f;
-    float z_sumcube = 0.0f;
+	float z_sumcube = 0.0f;
 
-    float xy_sum = 0.0f;
+	float xy_sum = 0.0f;
-    float xz_sum = 0.0f;
+	float xz_sum = 0.0f;
-    float yz_sum = 0.0f;
+	float yz_sum = 0.0f;
 
-    float x2y_sum = 0.0f;
+	float x2y_sum = 0.0f;
-    float x2z_sum = 0.0f;
+	float x2z_sum = 0.0f;
-    float y2x_sum = 0.0f;
+	float y2x_sum = 0.0f;
-    float y2z_sum = 0.0f;
+	float y2z_sum = 0.0f;
-    float z2x_sum = 0.0f;
+	float z2x_sum = 0.0f;
-    float z2y_sum = 0.0f;
+	float z2y_sum = 0.0f;
 
-    for (unsigned int i = 0; i < size; i++) {
+	for (unsigned int i = 0; i < size; i++) {
 
-        float x2 = x[i] * x[i];
+		float x2 = x[i] * x[i];
-        float y2 = y[i] * y[i];
+		float y2 = y[i] * y[i];
-        float z2 = z[i] * z[i];
+		float z2 = z[i] * z[i];
 
-        x_sumplain += x[i];
+		x_sumplain += x[i];
-        x_sumsq += x2;
+		x_sumsq += x2;
-        x_sumcube += x2 * x[i];
+		x_sumcube += x2 * x[i];
 
-        y_sumplain += y[i];
+		y_sumplain += y[i];
-        y_sumsq += y2;
+		y_sumsq += y2;
-        y_sumcube += y2 * y[i];
+		y_sumcube += y2 * y[i];
 
-        z_sumplain += z[i];
+		z_sumplain += z[i];
-        z_sumsq += z2;
+		z_sumsq += z2;
-        z_sumcube += z2 * z[i];
+		z_sumcube += z2 * z[i];
 
-        xy_sum += x[i] * y[i];
+		xy_sum += x[i] * y[i];
-        xz_sum += x[i] * z[i];
+		xz_sum += x[i] * z[i];
-        yz_sum += y[i] * z[i];
+		yz_sum += y[i] * z[i];
 
-        x2y_sum += x2 * y[i];
+		x2y_sum += x2 * y[i];
-        x2z_sum += x2 * z[i];
+		x2z_sum += x2 * z[i];
 
-        y2x_sum += y2 * x[i];
+		y2x_sum += y2 * x[i];
-        y2z_sum += y2 * z[i];
+		y2z_sum += y2 * z[i];
 
-        z2x_sum += z2 * x[i];
+		z2x_sum += z2 * x[i];
-        z2y_sum += z2 * y[i];
+		z2y_sum += z2 * y[i];
-    }
+	}
 
-    //
+	//
-    //Least Squares Fit a sphere A,B,C with radius squared Rsq to 3D data
+	//Least Squares Fit a sphere A,B,C with radius squared Rsq to 3D data
-    //
+	//
-    //    P is a structure that has been computed with the data earlier.
+	//    P is a structure that has been computed with the data earlier.
-    //    P.npoints is the number of elements; the length of X,Y,Z are identical.
+	//    P.npoints is the number of elements; the length of X,Y,Z are identical.
-    //    P's members are logically named.
+	//    P's members are logically named.
-    //
+	//
-    //    X[n] is the x component of point n
+	//    X[n] is the x component of point n
-    //    Y[n] is the y component of point n
+	//    Y[n] is the y component of point n
-    //    Z[n] is the z component of point n
+	//    Z[n] is the z component of point n
-    //
+	//
-    //    A is the x coordiante of the sphere
+	//    A is the x coordiante of the sphere
-    //    B is the y coordiante of the sphere
+	//    B is the y coordiante of the sphere
-    //    C is the z coordiante of the sphere
+	//    C is the z coordiante of the sphere
-    //    Rsq is the radius squared of the sphere.
+	//    Rsq is the radius squared of the sphere.
-    //
+	//
-    //This method should converge; maybe 5-100 iterations or more.
+	//This method should converge; maybe 5-100 iterations or more.
-    //
+	//
-    float x_sum = x_sumplain / size;        //sum( X[n] )
+	float x_sum = x_sumplain / size;        //sum( X[n] )
-    float x_sum2 = x_sumsq / size;    //sum( X[n]^2 )
+	float x_sum2 = x_sumsq / size;    //sum( X[n]^2 )
-    float x_sum3 = x_sumcube / size;    //sum( X[n]^3 )
+	float x_sum3 = x_sumcube / size;    //sum( X[n]^3 )
-    float y_sum = y_sumplain / size;        //sum( Y[n] )
+	float y_sum = y_sumplain / size;        //sum( Y[n] )
-    float y_sum2 = y_sumsq / size;    //sum( Y[n]^2 )
+	float y_sum2 = y_sumsq / size;    //sum( Y[n]^2 )
-    float y_sum3 = y_sumcube / size;    //sum( Y[n]^3 )
+	float y_sum3 = y_sumcube / size;    //sum( Y[n]^3 )
-    float z_sum = z_sumplain / size;        //sum( Z[n] )
+	float z_sum = z_sumplain / size;        //sum( Z[n] )
-    float z_sum2 = z_sumsq / size;    //sum( Z[n]^2 )
+	float z_sum2 = z_sumsq / size;    //sum( Z[n]^2 )
-    float z_sum3 = z_sumcube / size;    //sum( Z[n]^3 )
+	float z_sum3 = z_sumcube / size;    //sum( Z[n]^3 )
 
-    float XY = xy_sum / size;        //sum( X[n] * Y[n] )
+	float XY = xy_sum / size;        //sum( X[n] * Y[n] )
-    float XZ = xz_sum / size;        //sum( X[n] * Z[n] )
+	float XZ = xz_sum / size;        //sum( X[n] * Z[n] )
-    float YZ = yz_sum / size;        //sum( Y[n] * Z[n] )
+	float YZ = yz_sum / size;        //sum( Y[n] * Z[n] )
-    float X2Y = x2y_sum / size;    //sum( X[n]^2 * Y[n] )
+	float X2Y = x2y_sum / size;    //sum( X[n]^2 * Y[n] )
-    float X2Z = x2z_sum / size;    //sum( X[n]^2 * Z[n] )
+	float X2Z = x2z_sum / size;    //sum( X[n]^2 * Z[n] )
-    float Y2X = y2x_sum / size;    //sum( Y[n]^2 * X[n] )
+	float Y2X = y2x_sum / size;    //sum( Y[n]^2 * X[n] )
-    float Y2Z = y2z_sum / size;    //sum( Y[n]^2 * Z[n] )
+	float Y2Z = y2z_sum / size;    //sum( Y[n]^2 * Z[n] )
-    float Z2X = z2x_sum / size;    //sum( Z[n]^2 * X[n] )
+	float Z2X = z2x_sum / size;    //sum( Z[n]^2 * X[n] )
-    float Z2Y = z2y_sum / size;    //sum( Z[n]^2 * Y[n] )
+	float Z2Y = z2y_sum / size;    //sum( Z[n]^2 * Y[n] )
 
-    //Reduction of multiplications
+	//Reduction of multiplications
-    float F0 = x_sum2 + y_sum2 + z_sum2;
+	float F0 = x_sum2 + y_sum2 + z_sum2;
-    float F1 =  0.5f * F0;
+	float F1 =  0.5f * F0;
-    float F2 = -8.0f * (x_sum3 + Y2X + Z2X);
+	float F2 = -8.0f * (x_sum3 + Y2X + Z2X);
-    float F3 = -8.0f * (X2Y + y_sum3 + Z2Y);
+	float F3 = -8.0f * (X2Y + y_sum3 + Z2Y);
-    float F4 = -8.0f * (X2Z + Y2Z + z_sum3);
+	float F4 = -8.0f * (X2Z + Y2Z + z_sum3);
 
-    //Set initial conditions:
+	//Set initial conditions:
-    float A = x_sum;
+	float A = x_sum;
-    float B = y_sum;
+	float B = y_sum;
-    float C = z_sum;
+	float C = z_sum;
 
-    //First iteration computation:
+	//First iteration computation:
-    float A2 = A*A;
+	float A2 = A * A;
-    float B2 = B*B;
+	float B2 = B * B;
-    float C2 = C*C;
+	float C2 = C * C;
-    float QS = A2 + B2 + C2;
+	float QS = A2 + B2 + C2;
-    float QB = -2.0f * (A*x_sum + B*y_sum + C*z_sum);
+	float QB = -2.0f * (A * x_sum + B * y_sum + C * z_sum);
 
-    //Set initial conditions:
+	//Set initial conditions:
-    float Rsq = F0 + QB + QS;
+	float Rsq = F0 + QB + QS;
 
-    //First iteration computation:
+	//First iteration computation:
-    float Q0 = 0.5f * (QS - Rsq);
+	float Q0 = 0.5f * (QS - Rsq);
-    float Q1 = F1 + Q0;
+	float Q1 = F1 + Q0;
-    float Q2 = 8.0f * ( QS - Rsq + QB + F0 );
+	float Q2 = 8.0f * (QS - Rsq + QB + F0);
-    float aA,aB,aC,nA,nB,nC,dA,dB,dC;
+	float aA, aB, aC, nA, nB, nC, dA, dB, dC;
 
-    //Iterate N times, ignore stop condition.
+	//Iterate N times, ignore stop condition.
-    int n = 0;
+	int n = 0;
-    while( n < max_iterations ){
-        n++;
 
-        //Compute denominator:
+	while (n < max_iterations) {
-        aA = Q2 + 16.0f * (A2 - 2.0f * A*x_sum + x_sum2);
+		n++;
-        aB = Q2 + 16.0f *(B2 - 2.0f * B*y_sum + y_sum2);
-        aC = Q2 + 16.0f *(C2 - 2.0f * C*z_sum + z_sum2);
-        aA = (aA == 0.0f) ? 1.0f : aA;
-        aB = (aB == 0.0f) ? 1.0f : aB;
-        aC = (aC == 0.0f) ? 1.0f : aC;
 
-        //Compute next iteration
+		//Compute denominator:
-        nA = A - ((F2 + 16.0f * ( B*XY + C*XZ + x_sum*(-A2 - Q0) + A*(x_sum2 + Q1 - C*z_sum - B*y_sum) ) )/aA);
+		aA = Q2 + 16.0f * (A2 - 2.0f * A * x_sum + x_sum2);
-        nB = B - ((F3 + 16.0f * ( A*XY + C*YZ + y_sum*(-B2 - Q0) + B*(y_sum2 + Q1 - A*x_sum - C*z_sum) ) )/aB);
+		aB = Q2 + 16.0f * (B2 - 2.0f * B * y_sum + y_sum2);
-        nC = C - ((F4 + 16.0f * ( A*XZ + B*YZ + z_sum*(-C2 - Q0) + C*(z_sum2 + Q1 - A*x_sum - B*y_sum) ) )/aC);
+		aC = Q2 + 16.0f * (C2 - 2.0f * C * z_sum + z_sum2);
+		aA = (aA == 0.0f) ? 1.0f : aA;
+		aB = (aB == 0.0f) ? 1.0f : aB;
+		aC = (aC == 0.0f) ? 1.0f : aC;
 
-        //Check for stop condition
+		//Compute next iteration
-        dA = (nA - A);
+		nA = A - ((F2 + 16.0f * (B * XY + C * XZ + x_sum * (-A2 - Q0) + A * (x_sum2 + Q1 - C * z_sum - B * y_sum))) / aA);
-        dB = (nB - B);
+		nB = B - ((F3 + 16.0f * (A * XY + C * YZ + y_sum * (-B2 - Q0) + B * (y_sum2 + Q1 - A * x_sum - C * z_sum))) / aB);
-        dC = (nC - C);
+		nC = C - ((F4 + 16.0f * (A * XZ + B * YZ + z_sum * (-C2 - Q0) + C * (z_sum2 + Q1 - A * x_sum - B * y_sum))) / aC);
-        if( (dA*dA + dB*dB + dC*dC) <= delta ){ break; }
 
-        //Compute next iteration's values
+		//Check for stop condition
-        A = nA;
+		dA = (nA - A);
-        B = nB;
+		dB = (nB - B);
-        C = nC;
+		dC = (nC - C);
-        A2 = A*A;
-        B2 = B*B;
-        C2 = C*C;
-        QS = A2 + B2 + C2;
-        QB = -2.0f * (A*x_sum + B*y_sum + C*z_sum);
-        Rsq = F0 + QB + QS;
-        Q0 = 0.5f * (QS - Rsq);
-        Q1 = F1 + Q0;
-        Q2 = 8.0f * ( QS - Rsq + QB + F0 );
-    }
 
-    *sphere_x = A;
+		if ((dA * dA + dB * dB + dC * dC) <= delta) { break; }
-    *sphere_y = B;
-    *sphere_z = C;
-    *sphere_radius = sqrtf(Rsq);
 
-    return 0;
+		//Compute next iteration's values
+		A = nA;
+		B = nB;
+		C = nC;
+		A2 = A * A;
+		B2 = B * B;
+		C2 = C * C;
+		QS = A2 + B2 + C2;
+		QB = -2.0f * (A * x_sum + B * y_sum + C * z_sum);
+		Rsq = F0 + QB + QS;
+		Q0 = 0.5f * (QS - Rsq);
+		Q1 = F1 + Q0;
+		Q2 = 8.0f * (QS - Rsq + QB + F0);
+	}
+
+	*sphere_x = A;
+	*sphere_y = B;
+	*sphere_z = C;
+	*sphere_radius = sqrtf(Rsq);
+
+	return 0;
 }

apps/commander/calibration_routines.h

@@ -58,4 +58,4 @@
  * @return 0 on success, 1 on failure
  */
 int sphere_fit_least_squares(const float x[], const float y[], const float z[],
-    unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius);
+			     unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius);

apps/commander/commander.c

@@ -247,11 +247,12 @@ enum AUDIO_PATTERN {
 	AUDIO_PATTERN_TETRIS = 5
 };
 
-int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state) {
+int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state)
+{
 
 	/* Trigger alarm if going into any error state */
 	if (((new_state == SYSTEM_STATE_GROUND_ERROR) && (old_state != SYSTEM_STATE_GROUND_ERROR)) ||
-		((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) {
+	    ((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) {
 		ioctl(buzzer, TONE_SET_ALARM, 0);
 		ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_ERROR);
 	}
@@ -267,11 +268,13 @@ int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, u
 	return 0;
 }
 
-void tune_confirm(void) {
+void tune_confirm(void)
+{
 	ioctl(buzzer, TONE_SET_ALARM, 3);
 }
 
-void tune_error(void) {
+void tune_error(void)
+{
 	ioctl(buzzer, TONE_SET_ALARM, 4);
 }
 
@@ -298,9 +301,11 @@ void do_rc_calibration(int status_pub, struct vehicle_status_s *status)
 	/* store to permanent storage */
 	/* auto-save to EEPROM */
 	int save_ret = param_save_default();
-	if(save_ret != 0) {
+
+	if (save_ret != 0) {
 		mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed");
 	}
+
 	mavlink_log_info(mavlink_fd, "[cmd] trim calibration done");
 }
 
@@ -329,7 +334,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	//  * but the smallest number by magnitude float can
 	//  * represent. Use -FLT_MAX to initialize the most
 	//  * negative number
-	 
+
 	// float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
 	// float mag_min[3] = {FLT_MAX, FLT_MAX, FLT_MAX};
 
@@ -344,6 +349,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 		0.0f,
 		1.0f,
 	};
+
 	if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
 		warn("WARNING: failed to set scale / offsets for mag");
 		mavlink_log_info(mavlink_fd, "[cmd] failed to set scale / offsets for mag");
@@ -366,9 +372,9 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	const char axislabels[3] = { 'X', 'Y', 'Z'};
 	int axis_index = -1;
 
-	float *x = (float*)malloc(sizeof(float) * calibration_maxcount);
+	float *x = (float *)malloc(sizeof(float) * calibration_maxcount);
-	float *y = (float*)malloc(sizeof(float) * calibration_maxcount);
+	float *y = (float *)malloc(sizeof(float) * calibration_maxcount);
-	float *z = (float*)malloc(sizeof(float) * calibration_maxcount);
+	float *z = (float *)malloc(sizeof(float) * calibration_maxcount);
 
 	if (x == NULL || y == NULL || z == NULL) {
 		warnx("mag cal failed: out of memory");
@@ -382,14 +388,14 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	tune_confirm();
 
 	while (hrt_absolute_time() < calibration_deadline &&
-		calibration_counter < calibration_maxcount) {
+	       calibration_counter < calibration_maxcount) {
 
 		/* wait blocking for new data */
 		struct pollfd fds[1] = { { .fd = sub_mag, .events = POLLIN } };
 
 		/* user guidance */
 		if (hrt_absolute_time() >= axis_deadline &&
-			axis_index < 3) {
+		    axis_index < 3) {
 
 			axis_index++;
 
@@ -397,7 +403,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 			sprintf(buf, "[cmd] Please rotate around %c", axislabels[axis_index]);
 			mavlink_log_info(mavlink_fd, buf);
 			tune_confirm();
-		
+
 			axis_deadline += calibration_interval / 3;
 		}
 
@@ -444,6 +450,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 			// }
 
 			calibration_counter++;
+
 		} else {
 			/* any poll failure for 1s is a reason to abort */
 			mavlink_log_info(mavlink_fd, "[cmd] mag cal canceled");
@@ -477,6 +484,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 
 		if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
 			warn("WARNING: failed to set scale / offsets for mag");
+
 		close(fd);
 
 		/* announce and set new offset */
@@ -507,15 +515,16 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 
 		/* auto-save to EEPROM */
 		int save_ret = param_save_default();
-		if(save_ret != 0) {
+
+		if (save_ret != 0) {
 			warn("WARNING: auto-save of params to storage failed");
 			mavlink_log_info(mavlink_fd, "[cmd] FAILED storing calibration");
 		}
 
 		printf("[mag cal]\tscale: %.6f %.6f %.6f\n         \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n",
-			(double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale,
+		       (double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale,
-			(double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius);
+		       (double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius);
-		
+
 		char buf[52];
 		sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset,
 			(double)mscale.y_offset, (double)mscale.z_offset);
@@ -560,7 +569,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 
 	/* set offsets to zero */
 	int fd = open(GYRO_DEVICE_PATH, 0);
-	struct gyro_scale gscale_null = { 
+	struct gyro_scale gscale_null = {
 		0.0f,
 		1.0f,
 		0.0f,
@@ -568,8 +577,10 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 		0.0f,
 		1.0f,
 	};
+
 	if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale_null))
 		warn("WARNING: failed to set scale / offsets for gyro");
+
 	close(fd);
 
 	while (calibration_counter < calibration_count) {
@@ -583,6 +594,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 			gyro_offset[1] += raw.gyro_rad_s[1];
 			gyro_offset[2] += raw.gyro_rad_s[2];
 			calibration_counter++;
+
 		} else {
 			/* any poll failure for 1s is a reason to abort */
 			mavlink_log_info(mavlink_fd, "[cmd] gyro calibration aborted, retry");
@@ -603,7 +615,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 		if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0]))) {
 			mavlink_log_critical(mavlink_fd, "[cmd] Setting X gyro offset failed!");
 		}
-		
+
 		if (param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1]))) {
 			mavlink_log_critical(mavlink_fd, "[cmd] Setting Y gyro offset failed!");
 		}
@@ -614,7 +626,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 
 		/* set offsets to actual value */
 		fd = open(GYRO_DEVICE_PATH, 0);
-		struct gyro_scale gscale = { 
+		struct gyro_scale gscale = {
 			gyro_offset[0],
 			1.0f,
 			gyro_offset[1],
@@ -622,13 +634,16 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 			gyro_offset[2],
 			1.0f,
 		};
+
 		if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
 			warn("WARNING: failed to set scale / offsets for gyro");
+
 		close(fd);
 
 		/* auto-save to EEPROM */
 		int save_ret = param_save_default();
-		if(save_ret != 0) {
+
+		if (save_ret != 0) {
 			warn("WARNING: auto-save of params to storage failed");
 		}
 
@@ -642,6 +657,7 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 		tune_confirm();
 		sleep(2);
 		/* third beep by cal end routine */
+
 	} else {
 		mavlink_log_info(mavlink_fd, "[cmd] gyro calibration FAILED (NaN)");
 	}
@@ -675,9 +691,12 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 		0.0f,
 		1.0f,
 	};
+
 	if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null))
 		warn("WARNING: failed to set scale / offsets for accel");
+
 	close(fd);
+
 	while (calibration_counter < calibration_count) {
 
 		/* wait blocking for new data */
@@ -689,20 +708,22 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 			accel_offset[1] += raw.accelerometer_m_s2[1];
 			accel_offset[2] += raw.accelerometer_m_s2[2];
 			calibration_counter++;
+
 		} else {
 			/* any poll failure for 1s is a reason to abort */
 			mavlink_log_info(mavlink_fd, "[cmd] acceleration calibration aborted");
 			return;
 		}
 	}
+
 	accel_offset[0] = accel_offset[0] / calibration_count;
 	accel_offset[1] = accel_offset[1] / calibration_count;
 	accel_offset[2] = accel_offset[2] / calibration_count;
 
 	if (isfinite(accel_offset[0]) && isfinite(accel_offset[1]) && isfinite(accel_offset[2])) {
-		
+
 		/* add the removed length from x / y to z, since we induce a scaling issue else */
-		float total_len = sqrtf(accel_offset[0]*accel_offset[0] + accel_offset[1]*accel_offset[1] + accel_offset[2]*accel_offset[2]);
+		float total_len = sqrtf(accel_offset[0] * accel_offset[0] + accel_offset[1] * accel_offset[1] + accel_offset[2] * accel_offset[2]);
 
 		/* if length is correct, zero results here */
 		accel_offset[2] = accel_offset[2] + total_len;
@@ -712,7 +733,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 		if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0]))) {
 			mavlink_log_critical(mavlink_fd, "[cmd] Setting X accel offset failed!");
 		}
-		
+
 		if (param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1]))) {
 			mavlink_log_critical(mavlink_fd, "[cmd] Setting Y accel offset failed!");
 		}
@@ -724,7 +745,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 		if (param_set(param_find("SENS_ACC_XSCALE"), &(scale))) {
 			mavlink_log_critical(mavlink_fd, "[cmd] Setting X accel offset failed!");
 		}
-		
+
 		if (param_set(param_find("SENS_ACC_YSCALE"), &(scale))) {
 			mavlink_log_critical(mavlink_fd, "[cmd] Setting Y accel offset failed!");
 		}
@@ -742,13 +763,16 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 			accel_offset[2],
 			scale,
 		};
+
 		if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
 			warn("WARNING: failed to set scale / offsets for accel");
+
 		close(fd);
 
 		/* auto-save to EEPROM */
 		int save_ret = param_save_default();
-		if(save_ret != 0) {
+
+		if (save_ret != 0) {
 			warn("WARNING: auto-save of params to storage failed");
 		}
 
@@ -762,6 +786,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 		tune_confirm();
 		sleep(2);
 		/* third beep by cal end routine */
+
 	} else {
 		mavlink_log_info(mavlink_fd, "[cmd] accel calibration FAILED (NaN)");
 	}
@@ -788,28 +813,32 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 	/* request to set different system mode */
 	switch (cmd->command) {
-		case VEHICLE_CMD_DO_SET_MODE:
+	case VEHICLE_CMD_DO_SET_MODE: {
-		{
 			if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) {
 				result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 			} else {
 				result = VEHICLE_CMD_RESULT_DENIED;
 			}
 		}
 		break;
 
-		case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
+	case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
 			/* request to arm */
 			if ((int)cmd->param1 == 1) {
 				if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
 					result = VEHICLE_CMD_RESULT_DENIED;
 				}
-			/* request to disarm */
+
+				/* request to disarm */
+
 			} else if ((int)cmd->param1 == 0) {
 				if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
 					result = VEHICLE_CMD_RESULT_DENIED;
 				}
@@ -818,11 +847,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 		break;
 
 		/* request for an autopilot reboot */
-		case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
+	case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
 			if ((int)cmd->param1 == 1) {
 				if (OK == do_state_update(status_pub, current_vehicle_status, mavlink_fd, SYSTEM_STATE_REBOOT)) {
 					/* SPECIAL CASE: SYSTEM WILL NEVER RETURN HERE */
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
 					/* system may return here */
 					result = VEHICLE_CMD_RESULT_DENIED;
@@ -855,7 +885,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 //		break;
 //
 		/* preflight calibration */
-		case VEHICLE_CMD_PREFLIGHT_CALIBRATION: {
+	case VEHICLE_CMD_PREFLIGHT_CALIBRATION: {
 			bool handled = false;
 
 			/* gyro calibration */
@@ -871,10 +901,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 					tune_confirm();
 					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
 					mavlink_log_critical(mavlink_fd, "[cmd] REJECTING gyro calibration");
 					result = VEHICLE_CMD_RESULT_DENIED;
 				}
+
 				handled = true;
 			}
 
@@ -891,10 +923,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 					tune_confirm();
 					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
 					mavlink_log_critical(mavlink_fd, "[cmd] REJECTING mag calibration");
 					result = VEHICLE_CMD_RESULT_DENIED;
 				}
+
 				handled = true;
 			}
 
@@ -906,10 +940,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
 					mavlink_log_info(mavlink_fd, "[cmd] zero altitude cal. not implemented");
 					tune_confirm();
+
 				} else {
 					mavlink_log_critical(mavlink_fd, "[cmd] REJECTING altitude calibration");
 					result = VEHICLE_CMD_RESULT_DENIED;
 				}
+
 				handled = true;
 			}
 
@@ -926,10 +962,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 					tune_confirm();
 					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
 					mavlink_log_critical(mavlink_fd, "[cmd] REJECTING trim calibration");
 					result = VEHICLE_CMD_RESULT_DENIED;
 				}
+
 				handled = true;
 			}
 
@@ -946,10 +984,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 					mavlink_log_info(mavlink_fd, "[cmd] CMD finished accel calibration");
 					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 				} else {
 					mavlink_log_critical(mavlink_fd, "[cmd] REJECTING accel calibration");
 					result = VEHICLE_CMD_RESULT_DENIED;
 				}
+
 				handled = true;
 			}
 
@@ -962,14 +1002,15 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 		}
 		break;
 
-		case VEHICLE_CMD_PREFLIGHT_STORAGE: {
+	case VEHICLE_CMD_PREFLIGHT_STORAGE: {
 			if (current_status.flag_system_armed &&
-				((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
+			    ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
-						(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
+			     (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
-						(current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) {
+			     (current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) {
 				/* do not perform expensive memory tasks on multirotors in flight */
 				// XXX this is over-safe, as soon as cmd is in low prio thread this can be allowed
 				mavlink_log_info(mavlink_fd, "[cmd] REJECTING save cmd while multicopter armed");
+
 			} else {
 
 				// XXX move this to LOW PRIO THREAD of commander app
@@ -979,23 +1020,28 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 					/* read all parameters from EEPROM to RAM */
 					int read_ret = param_load_default();
+
 					if (read_ret == OK) {
 						//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
 						mavlink_log_info(mavlink_fd, "[cmd] OK loading params from");
 						mavlink_log_info(mavlink_fd, param_get_default_file());
 						result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 					} else if (read_ret == 1) {
 						mavlink_log_info(mavlink_fd, "[cmd] OK no changes in");
 						mavlink_log_info(mavlink_fd, param_get_default_file());
 						result = VEHICLE_CMD_RESULT_ACCEPTED;
+
 					} else {
 						if (read_ret < -1) {
 							mavlink_log_info(mavlink_fd, "[cmd] ERR loading params from");
 							mavlink_log_info(mavlink_fd, param_get_default_file());
+
 						} else {
 							mavlink_log_info(mavlink_fd, "[cmd] ERR no param file named");
 							mavlink_log_info(mavlink_fd, param_get_default_file());
 						}
+
 						result = VEHICLE_CMD_RESULT_FAILED;
 					}
 
@@ -1003,6 +1049,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 					/* write all parameters from RAM to EEPROM */
 					int write_ret = param_save_default();
+
 					if (write_ret == OK) {
 						mavlink_log_info(mavlink_fd, "[cmd] OK saved param file");
 						mavlink_log_info(mavlink_fd, param_get_default_file());
@@ -1012,10 +1059,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 						if (write_ret < -1) {
 							mavlink_log_info(mavlink_fd, "[cmd] ERR params file does not exit:");
 							mavlink_log_info(mavlink_fd, param_get_default_file());
+
 						} else {
 							mavlink_log_info(mavlink_fd, "[cmd] ERR writing params to");
 							mavlink_log_info(mavlink_fd, param_get_default_file());
 						}
+
 						result = VEHICLE_CMD_RESULT_FAILED;
 					}
 
@@ -1027,7 +1076,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 		}
 		break;
 
-		default: {
+	default: {
 			mavlink_log_critical(mavlink_fd, "[cmd] refusing unsupported command");
 			result = VEHICLE_CMD_RESULT_UNSUPPORTED;
 			/* announce command rejection */
@@ -1038,9 +1087,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 	/* supported command handling stop */
 	if (result == VEHICLE_CMD_RESULT_FAILED ||
-		result == VEHICLE_CMD_RESULT_DENIED ||
+	    result == VEHICLE_CMD_RESULT_DENIED ||
-		result == VEHICLE_CMD_RESULT_UNSUPPORTED) {
+	    result == VEHICLE_CMD_RESULT_UNSUPPORTED) {
 		ioctl(buzzer, TONE_SET_ALARM, 5);
+
 	} else if (result == VEHICLE_CMD_RESULT_ACCEPTED) {
 		tune_confirm();
 	}
@@ -1062,7 +1112,7 @@ static void *orb_receive_loop(void *arg)  //handles status information coming fr
 	int subsys_sub = orb_subscribe(ORB_ID(subsystem_info));
 	struct subsystem_info_s info;
 
-	struct vehicle_status_s *vstatus = (struct vehicle_status_s*)arg;
+	struct vehicle_status_s *vstatus = (struct vehicle_status_s *)arg;
 
 	while (!thread_should_exit) {
 		struct pollfd fds[1] = { { .fd = subsys_sub, .events = POLLIN } };
@@ -1078,6 +1128,7 @@ static void *orb_receive_loop(void *arg)  //handles status information coming fr
 			/* mark / unmark as present */
 			if (info.present) {
 				vstatus->onboard_control_sensors_present |= info.subsystem_type;
+
 			} else {
 				vstatus->onboard_control_sensors_present &= ~info.subsystem_type;
 			}
@@ -1085,6 +1136,7 @@ static void *orb_receive_loop(void *arg)  //handles status information coming fr
 			/* mark / unmark as enabled */
 			if (info.enabled) {
 				vstatus->onboard_control_sensors_enabled |= info.subsystem_type;
+
 			} else {
 				vstatus->onboard_control_sensors_enabled &= ~info.subsystem_type;
 			}
@@ -1092,6 +1144,7 @@ static void *orb_receive_loop(void *arg)  //handles status information coming fr
 			/* mark / unmark as ok */
 			if (info.ok) {
 				vstatus->onboard_control_sensors_health |= info.subsystem_type;
+
 			} else {
 				vstatus->onboard_control_sensors_health &= ~info.subsystem_type;
 			}
@@ -1142,6 +1195,7 @@ float battery_remaining_estimate_voltage(float voltage)
 		param_get(bat_volt_full, &chemistry_voltage_full);
 		param_get(bat_n_cells, &ncells);
 	}
+
 	counter++;
 
 	ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty));
@@ -1157,6 +1211,7 @@ usage(const char *reason)
 {
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
+
 	fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
 	exit(1);
 }
@@ -1165,7 +1220,7 @@ usage(const char *reason)
  * The daemon app only briefly exists to start
  * the background job. The stack size assigned in the
  * Makefile does only apply to this management task.
- * 
+ *
  * The actual stack size should be set in the call
  * to task_create().
  */
@@ -1201,9 +1256,11 @@ int commander_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
 			printf("\tcommander is running\n");
+
 		} else {
 			printf("\tcommander not started\n");
 		}
+
 		exit(0);
 	}
 
@@ -1360,23 +1417,28 @@ int commander_thread_main(int argc, char *argv[])
 		/* Get current values */
 		bool new_data;
 		orb_check(sp_man_sub, &new_data);
+
 		if (new_data) {
 			orb_copy(ORB_ID(manual_control_setpoint), sp_man_sub, &sp_man);
 		}
 
 		orb_check(sp_offboard_sub, &new_data);
+
 		if (new_data) {
 			orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard);
 		}
 
 		orb_check(sensor_sub, &new_data);
+
 		if (new_data) {
 			orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
+
 		} else {
 			sensors.battery_voltage_valid = false;
 		}
 
 		orb_check(cmd_sub, &new_data);
+
 		if (new_data) {
 			/* got command */
 			orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
@@ -1384,8 +1446,10 @@ int commander_thread_main(int argc, char *argv[])
 			/* handle it */
 			handle_command(stat_pub, &current_status, &cmd);
 		}
+
 		/* update parameters */
 		orb_check(param_changed_sub, &new_data);
+
 		if (new_data || param_init_forced) {
 			param_init_forced = false;
 			/* parameters changed */
@@ -1396,14 +1460,17 @@ int commander_thread_main(int argc, char *argv[])
 				if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
 					warnx("failed setting new system type");
 				}
+
 				/* disable manual override for all systems that rely on electronic stabilization */
 				if (current_status.system_type == VEHICLE_TYPE_QUADROTOR ||
 				    current_status.system_type == VEHICLE_TYPE_HEXAROTOR ||
 				    current_status.system_type == VEHICLE_TYPE_OCTOROTOR) {
 					current_status.flag_external_manual_override_ok = false;
+
 				} else {
 					current_status.flag_external_manual_override_ok = true;
 				}
+
 			} else {
 				printf("ARMED, rejecting sys type change\n");
 			}
@@ -1411,6 +1478,7 @@ int commander_thread_main(int argc, char *argv[])
 
 		/* update global position estimate */
 		orb_check(global_position_sub, &new_data);
+
 		if (new_data) {
 			/* position changed */
 			orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position);
@@ -1419,6 +1487,7 @@ int commander_thread_main(int argc, char *argv[])
 
 		/* update local position estimate */
 		orb_check(local_position_sub, &new_data);
+
 		if (new_data) {
 			/* position changed */
 			orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position);
@@ -1426,6 +1495,7 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		orb_check(battery_sub, &new_data);
+
 		if (new_data) {
 			orb_copy(ORB_ID(battery_status), battery_sub, &battery);
 			battery_voltage = battery.voltage_v;
@@ -1507,6 +1577,7 @@ int commander_thread_main(int argc, char *argv[])
 		/* write to sys_status */
 		if (battery_voltage_valid) {
 			current_status.voltage_battery = battery_voltage;
+
 		} else {
 			current_status.voltage_battery = 0.0f;
 		}
@@ -1560,13 +1631,15 @@ int commander_thread_main(int argc, char *argv[])
 		if (hrt_absolute_time() - last_global_position_time < 2000000) {
 			current_status.flag_global_position_valid = true;
 			// XXX check for controller status and home position as well
+
 		} else {
 			current_status.flag_global_position_valid = false;
 		}
-		
+
 		if (hrt_absolute_time() - last_local_position_time < 2000000) {
 			current_status.flag_local_position_valid = true;
 			// XXX check for controller status and home position as well
+
 		} else {
 			current_status.flag_local_position_valid = false;
 		}
@@ -1576,8 +1649,9 @@ int commander_thread_main(int argc, char *argv[])
 		 * for vector flight mode.
 		 */
 		if (current_status.flag_local_position_valid ||
-			current_status.flag_global_position_valid) {
+		    current_status.flag_global_position_valid) {
 			current_status.flag_vector_flight_mode_ok = true;
+
 		} else {
 			current_status.flag_vector_flight_mode_ok = false;
 		}
@@ -1594,14 +1668,14 @@ int commander_thread_main(int argc, char *argv[])
 		 * position. The MAV will return here on command or emergency.
 		 *
 		 * Conditions:
-		 * 
+		 *
 		 * 	1) The system aquired position lock just now
 		 *	2) The system has not aquired position lock before
 		 *	3) The system is not armed (on the ground)
 		 */
 		if (!current_status.flag_valid_launch_position &&
-			!vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok &&
+		    !vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok &&
-			!current_status.flag_system_armed) {
+		    !current_status.flag_system_armed) {
 			/* first time a valid position, store it and emit it */
 
 			// XXX implement storage and publication of RTL position
@@ -1762,11 +1836,11 @@ int commander_thread_main(int argc, char *argv[])
 				 * Do this only for multirotors, not for fixed wing aircraft.
 				 */
 				if (((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
-					(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
+				     (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
-					(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)
+				     (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)
-					) &&
+				    ) &&
-					((sp_man.yaw < -STICK_ON_OFF_LIMIT)) &&
+				    ((sp_man.yaw < -STICK_ON_OFF_LIMIT)) &&
-					(sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) {
+				    (sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) {
 					if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
 						update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
 						stick_on_counter = 0;
@@ -1793,6 +1867,7 @@ int commander_thread_main(int argc, char *argv[])
 				if (sp_man.manual_override_switch > STICK_ON_OFF_LIMIT) {
 					/* enable manual override */
 					update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
+
 				} else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) {
 					/* check auto mode switch for correct mode */
 					if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) {
@@ -1803,6 +1878,7 @@ int commander_thread_main(int argc, char *argv[])
 						update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
 
 					}
+
 				} else {
 					/* center stick position, set SAS for all vehicle types */
 					update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
@@ -1812,6 +1888,7 @@ int commander_thread_main(int argc, char *argv[])
 				if (!current_status.rc_signal_found_once) {
 					current_status.rc_signal_found_once = true;
 					mavlink_log_critical(mavlink_fd, "[cmd] DETECTED RC SIGNAL FIRST TIME.");
+
 				} else {
 					if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[cmd] RECOVERY - RC SIGNAL GAINED!");
 				}
@@ -1822,6 +1899,7 @@ int commander_thread_main(int argc, char *argv[])
 
 			} else {
 				static uint64_t last_print_time = 0;
+
 				/* print error message for first RC glitch and then every 5 s / 5000 ms) */
 				if (!current_status.rc_signal_cutting_off || ((hrt_absolute_time() - last_print_time) > 5000000)) {
 					/* only complain if the offboard control is NOT active */
@@ -1829,6 +1907,7 @@ int commander_thread_main(int argc, char *argv[])
 					mavlink_log_critical(mavlink_fd, "[cmd] CRITICAL - NO REMOTE SIGNAL!");
 					last_print_time = hrt_absolute_time();
 				}
+
 				/* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */
 				current_status.rc_signal_lost_interval = hrt_absolute_time() - sp_man.timestamp;
 
@@ -1845,7 +1924,7 @@ int commander_thread_main(int argc, char *argv[])
 			}
 		}
 
-		
+
 
 
 		/* End mode switch */
@@ -1859,8 +1938,8 @@ int commander_thread_main(int argc, char *argv[])
 
 				/* decide about attitude control flag, enable in att/pos/vel */
 				bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE ||
-					 sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY ||
+							      sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY ||
-					 sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION);
+							      sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION);
 
 				/* decide about rate control flag, enable it always XXX (for now) */
 				bool rates_ctrl_enabled = true;
@@ -1884,8 +1963,9 @@ int commander_thread_main(int argc, char *argv[])
 					current_status.flag_control_offboard_enabled = true;
 					state_changed = true;
 					tune_confirm();
-					
+
 					mavlink_log_critical(mavlink_fd, "[cmd] DETECTED OFFBOARD CONTROL SIGNAL FIRST");
+
 				} else {
 					if (current_status.offboard_control_signal_lost) {
 						mavlink_log_critical(mavlink_fd, "[cmd] OK:RECOVERY OFFBOARD CONTROL");
@@ -1903,18 +1983,21 @@ int commander_thread_main(int argc, char *argv[])
 					update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
 					/* switch to stabilized mode = takeoff */
 					update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
+
 				} else if (!sp_offboard.armed && current_status.flag_system_armed) {
 					update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
 				}
 
 			} else {
 				static uint64_t last_print_time = 0;
+
 				/* print error message for first RC glitch and then every 5 s / 5000 ms) */
 				if (!current_status.offboard_control_signal_weak || ((hrt_absolute_time() - last_print_time) > 5000000)) {
 					current_status.offboard_control_signal_weak = true;
 					mavlink_log_critical(mavlink_fd, "[cmd] CRIT:NO OFFBOARD CONTROL!");
 					last_print_time = hrt_absolute_time();
 				}
+
 				/* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */
 				current_status.offboard_control_signal_lost_interval = hrt_absolute_time() - sp_offboard.timestamp;
 
@@ -1925,7 +2008,7 @@ int commander_thread_main(int argc, char *argv[])
 					tune_confirm();
 
 					/* kill motors after timeout */
-					if (hrt_absolute_time() - current_status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms*1000) {
+					if (hrt_absolute_time() - current_status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms * 1000) {
 						current_status.failsave_lowlevel = true;
 						state_changed = true;
 					}
@@ -1943,7 +2026,7 @@ int commander_thread_main(int argc, char *argv[])
 		    current_status.flag_preflight_gyro_calibration == false &&
 		    current_status.flag_preflight_mag_calibration == false &&
 		    current_status.flag_preflight_accel_calibration == false) {
-		    	/* All ok, no calibration going on, go to standby */
+			/* All ok, no calibration going on, go to standby */
 			do_state_update(stat_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
 		}
 

apps/commander/state_machine_helper.c

@@ -50,7 +50,7 @@
 
 #include "state_machine_helper.h"
 
-static const char* system_state_txt[] = {
+static const char *system_state_txt[] = {
 	"SYSTEM_STATE_PREFLIGHT",
 	"SYSTEM_STATE_STANDBY",
 	"SYSTEM_STATE_GROUND_READY",
@@ -79,7 +79,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 	case SYSTEM_STATE_MISSION_ABORT: {
 			/* Indoor or outdoor */
 			// if (flight_environment_parameter == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
-				ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING);
+			ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING);
 
 			// } else {
 			// 	ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF);
@@ -120,19 +120,21 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 
 	case SYSTEM_STATE_PREFLIGHT:
 		if (current_status->state_machine == SYSTEM_STATE_STANDBY
-		 || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
+		    || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
 			/* set system flags according to state */
 			current_status->flag_system_armed = false;
 			mavlink_log_critical(mavlink_fd, "[cmd] Switched to PREFLIGHT state");
+
 		} else {
 			invalid_state = true;
 			mavlink_log_critical(mavlink_fd, "[cmd] REFUSED to switch to PREFLIGHT state");
 		}
+
 		break;
 
 	case SYSTEM_STATE_REBOOT:
 		if (current_status->state_machine == SYSTEM_STATE_STANDBY
-		 || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
+		    || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
 			invalid_state = false;
 			/* set system flags according to state */
 			current_status->flag_system_armed = false;
@@ -140,10 +142,12 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 			usleep(500000);
 			up_systemreset();
 			/* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */
+
 		} else {
 			invalid_state = true;
 			mavlink_log_critical(mavlink_fd, "[cmd] REFUSED to REBOOT");
 		}
+
 		break;
 
 	case SYSTEM_STATE_STANDBY:
@@ -202,14 +206,17 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 		publish_armed_status(current_status);
 		ret = OK;
 	}
+
 	if (invalid_state) {
 		mavlink_log_critical(mavlink_fd, "[cmd] REJECTING invalid state transition");
 		ret = ERROR;
 	}
+
 	return ret;
 }
 
-void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) {
+void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
+{
 	/* publish the new state */
 	current_status->counter++;
 	current_status->timestamp = hrt_absolute_time();
@@ -217,9 +224,11 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
 	/* assemble state vector based on flag values */
 	if (current_status->flag_control_rates_enabled) {
 		current_status->onboard_control_sensors_present |= 0x400;
+
 	} else {
 		current_status->onboard_control_sensors_present &= ~0x400;
 	}
+
 	current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0;
 	current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0;
 	current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0;
@@ -235,7 +244,8 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
 	printf("[cmd] new state: %s\n", system_state_txt[current_status->state_machine]);
 }
 
-void publish_armed_status(const struct vehicle_status_s *current_status) {
+void publish_armed_status(const struct vehicle_status_s *current_status)
+{
 	struct actuator_armed_s armed;
 	armed.armed = current_status->flag_system_armed;
 	/* lock down actuators if required, only in HIL */
@@ -257,7 +267,7 @@ void state_machine_emergency_always_critical(int status_pub, struct vehicle_stat
 		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_ERROR);
 
 	} else if (current_status->state_machine == SYSTEM_STATE_AUTO || current_status->state_machine == SYSTEM_STATE_MANUAL) {
-		
+
 		// DO NOT abort mission
 		//do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT);
 
@@ -523,13 +533,14 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
 
 	/* set behaviour based on airframe */
 	if ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
-		(current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
+	    (current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
-		(current_status->system_type == VEHICLE_TYPE_OCTOROTOR)) {
+	    (current_status->system_type == VEHICLE_TYPE_OCTOROTOR)) {
 
 		/* assuming a rotary wing, set to SAS */
 		current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
 		current_status->flag_control_attitude_enabled = true;
 		current_status->flag_control_rates_enabled = true;
+
 	} else {
 
 		/* assuming a fixed wing, set to direct pass-through */
@@ -556,8 +567,9 @@ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_
 		current_status->flag_control_attitude_enabled = true;
 		current_status->flag_control_rates_enabled = true;
 		current_status->flag_control_manual_enabled = true;
+
 		if (old_mode != current_status->flight_mode ||
-			old_manual_control_mode != current_status->manual_control_mode) {
+		    old_manual_control_mode != current_status->manual_control_mode) {
 			printf("[cmd] att stabilized mode\n");
 			do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
 			state_machine_publish(status_pub, current_status, mavlink_fd);
@@ -573,6 +585,7 @@ void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *c
 		tune_error();
 		return;
 	}
+
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
 		printf("[cmd] position guided mode\n");
 		int old_mode = current_status->flight_mode;
@@ -581,6 +594,7 @@ void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *c
 		current_status->flag_control_attitude_enabled = true;
 		current_status->flag_control_rates_enabled = true;
 		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STABILIZED);
+
 		if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 
 	}
@@ -592,7 +606,7 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
 		mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. AUTO MODE");
 		return;
 	}
-	
+
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) {
 		printf("[cmd] auto mode\n");
 		int old_mode = current_status->flight_mode;
@@ -601,6 +615,7 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
 		current_status->flag_control_attitude_enabled = true;
 		current_status->flag_control_rates_enabled = true;
 		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO);
+
 		if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 	}
 }
@@ -609,10 +624,10 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
 uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode)
 {
 	uint8_t ret = 1;
-    
+
 	/* Switch on HIL if in standby and not already in HIL mode */
 	if ((mode & VEHICLE_MODE_FLAG_HIL_ENABLED)
-		&& !current_status->flag_hil_enabled) {
+	    && !current_status->flag_hil_enabled) {
 		if ((current_status->state_machine == SYSTEM_STATE_STANDBY)) {
 			/* Enable HIL on request */
 			current_status->flag_hil_enabled = true;
@@ -620,23 +635,28 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
 			state_machine_publish(status_pub, current_status, mavlink_fd);
 			publish_armed_status(current_status);
 			printf("[cmd] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n");
+
 		} else if (current_status->state_machine != SYSTEM_STATE_STANDBY &&
-			current_status->flag_system_armed) {
+			   current_status->flag_system_armed) {
 
 			mavlink_log_critical(mavlink_fd, "[cmd] REJECTING HIL, disarm first!")
+
 		} else {
 
 			mavlink_log_critical(mavlink_fd, "[cmd] REJECTING HIL, not in standby.")
 		}
 	}
-    
+
 	/* switch manual / auto */
 	if (mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) {
 		update_state_machine_mode_auto(status_pub, current_status, mavlink_fd);
+
 	} else if (mode & VEHICLE_MODE_FLAG_STABILIZED_ENABLED) {
 		update_state_machine_mode_stabilized(status_pub, current_status, mavlink_fd);
+
 	} else if (mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) {
 		update_state_machine_mode_guided(status_pub, current_status, mavlink_fd);
+
 	} else if (mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) {
 		update_state_machine_mode_manual(status_pub, current_status, mavlink_fd);
 	}