Merge pull request #1960 from dagar/format

Trivial code style cleanup round 2

Tools/check_code_style.sh

@@ -3,6 +3,7 @@ set -eu
 failed=0
 for fn in $(find . -path './src/lib/uavcan' -prune -o \
                    -path './src/lib/mathlib/CMSIS' -prune -o \
+                   -path './src/lib/eigen' -prune -o \
                    -path './src/modules/attitude_estimator_ekf/codegen' -prune -o \
                    -path './NuttX' -prune -o \
                    -path './Build' -prune -o \

src/drivers/airspeed/airspeed.h

@@ -90,7 +90,7 @@ static const int ERROR = -1;
 class __EXPORT Airspeed : public device::I2C
 {
 public:
-	Airspeed(int bus, int address, unsigned conversion_interval, const char* path);
+	Airspeed(int bus, int address, unsigned conversion_interval, const char *path);
 	virtual ~Airspeed();
 
 	virtual int	init();
@@ -108,8 +108,8 @@ private:
 	perf_counter_t		_buffer_overflows;
 
 	/* this class has pointer data members and should not be copied */
-	Airspeed(const Airspeed&);
+	Airspeed(const Airspeed &);
-	Airspeed& operator=(const Airspeed&);
+	Airspeed &operator=(const Airspeed &);
 
 protected:
 	virtual int	probe();

src/drivers/ardrone_interface/ardrone_motor_control.h

@@ -85,7 +85,8 @@ int ar_init_motors(int ardrone_uart, int gpio);
 /**
  * Set LED pattern.
  */
-void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green, uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green);
+void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green,
+		 uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green);
 
 /**
  * Mix motors and output actuators

src/drivers/device/i2c.h

@@ -144,8 +144,8 @@ private:
 	uint32_t		_frequency;
 	struct i2c_dev_s	*_dev;
 
-	I2C(const device::I2C&);
+	I2C(const device::I2C &);
-	I2C operator=(const device::I2C&);
+	I2C operator=(const device::I2C &);
 };
 
 } // namespace device

src/drivers/drv_hrt.h

@@ -127,7 +127,8 @@ __EXPORT extern void	hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, h
  * Note thet the interval is timed between scheduled, not actual, call times, so the call rate may
  * jitter but should not drift.
  */
-__EXPORT extern void	hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg);
+__EXPORT extern void	hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval,
+				       hrt_callout callout, void *arg);
 
 /*
  * If this returns true, the entry has been invoked and removed from the callout list,

src/drivers/frsky_telemetry/frsky_data.c

@@ -222,6 +222,7 @@ void frsky_send_frame2(int uart)
 	float course = 0, lat = 0, lon = 0, speed = 0, alt = 0;
 	char lat_ns = 0, lon_ew = 0;
 	int sec = 0;
+
 	if (global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) {
 		time_t time_gps = global_pos.time_utc_usec / 1000000ULL;
 		struct tm *tm_gps = gmtime(&time_gps);

src/drivers/md25/BlockSysIdent.hpp

@@ -1,7 +1,8 @@
 #include <controllib/block/Block.hpp>
 #include <controllib/block/BlockParam.hpp>
 
-class BlockSysIdent : public control::Block {
+class BlockSysIdent : public control::Block
+{
 public:
 	BlockSysIdent();
 private:

src/lib/mathlib/math/Limits.cpp

@@ -44,7 +44,8 @@
 #include "Limits.hpp"
 
 
-namespace math {
+namespace math
+{
 
 #ifndef CONFIG_ARCH_ARM
 #define M_PI_F 3.14159265358979323846f

src/lib/mathlib/math/Limits.hpp

@@ -42,7 +42,8 @@
 #include <platforms/px4_defines.h>
 #include <stdint.h>
 
-namespace math {
+namespace math
+{
 
 
 float __EXPORT min(float val1, float val2);

src/lib/mathlib/math/test/test.cpp

@@ -51,7 +51,7 @@ bool __EXPORT equal(float a, float b, float epsilon)
 		printf("not equal ->\n\ta: %12.8f\n\tb: %12.8f\n", double(a), double(b));
 		return false;
 
-	} else return true;
+	} else { return true; }
 }
 
 void __EXPORT float2SigExp(
@@ -84,10 +84,10 @@ void __EXPORT float2SigExp(
 
 	// cheap power since it is integer
 	if (exp > 0) {
-		for (int i = 0; i < abs(exp); i++) sig /= 10;
+		for (int i = 0; i < abs(exp); i++) { sig /= 10; }
 
 	} else {
-		for (int i = 0; i < abs(exp); i++) sig *= 10;
+		for (int i = 0; i < abs(exp); i++) { sig *= 10; }
 	}
 }
 

src/lib/rc/st24.c

@@ -113,6 +113,7 @@ int st24_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channe
 	case ST24_DECODE_STATE_UNSYNCED:
 		if (byte == ST24_STX1) {
 			_decode_state = ST24_DECODE_STATE_GOT_STX1;
+
 		} else {
 			ret = 3;
 		}

src/modules/commander/calibration_routines.cpp

@@ -45,7 +45,8 @@
 
 
 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;

src/modules/commander/gyro_calibration.cpp

@@ -376,7 +376,7 @@ int do_gyro_calibration(int mavlink_fd)
 		}
 	}
 
-	#endif
+#endif
 
 	if (res == OK) {
 		/* auto-save to EEPROM */

src/modules/controllib/block/BlockParam.hpp

@@ -58,7 +58,7 @@ public:
 	 *
 	 * @param parent_prefix Set to true to include the parent name in the parameter name
 	 */
-	BlockParamBase(Block *parent, const char *name, bool parent_prefix=true);
+	BlockParamBase(Block *parent, const char *name, bool parent_prefix = true);
 	virtual ~BlockParamBase() {};
 	virtual void update() = 0;
 	const char *getName() { return param_name(_handle); }
@@ -75,7 +75,7 @@ class BlockParam : public BlockParamBase
 {
 public:
 	BlockParam(Block *block, const char *name,
-			bool parent_prefix=true);
+		   bool parent_prefix = true);
 	T get();
 	void set(T val);
 	void update();

src/modules/controllib/blocks.hpp

@@ -114,7 +114,7 @@ public:
 // methods
 	BlockLowPass(SuperBlock *parent, const char *name) :
 		Block(parent, name),
-		_state(0.0f/0.0f /* initialize to invalid val, force into is_finite() check on first call */),
+		_state(0.0f / 0.0f /* initialize to invalid val, force into is_finite() check on first call */),
 		_fCut(this, "") // only one parameter, no need to name
 	{};
 	virtual ~BlockLowPass() {};
@@ -492,8 +492,9 @@ public:
 
 			X = V1 * float(sqrt(-2 * float(log(S)) / S));
 
-		} else
+		} else {
 			X = V2 * float(sqrt(-2 * float(log(S)) / S));
+		}
 
 		phase = 1 - phase;
 		return X * getStdDev() + getMean();

src/modules/fw_att_control/fw_att_control_params.c

@@ -136,7 +136,8 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f);
  * @max 2.0
  * @group FW Attitude Control
  */
-PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f); //xxx: set to 0 as default, see comment in ECL_PitchController::control_attitude (float turn_offset = ...)
+PARAM_DEFINE_FLOAT(FW_P_ROLLFF,
+		   0.0f); //xxx: set to 0 as default, see comment in ECL_PitchController::control_attitude (float turn_offset = ...)
 
 /**
  * Roll rate proportional Gain

src/modules/gpio_led/gpio_led.c

@@ -184,11 +184,13 @@ int gpio_led_main(int argc, char *argv[])
 				warnx("start, using pin: %s", pin_name);
 				exit(0);
 			}
+
 		} else if (!strcmp(argv[1], "stop")) {
 			if (gpio_led_started) {
 				gpio_led_started = false;
 				warnx("stop");
 				exit(0);
+
 			} else {
 				errx(1, "not running");
 			}

src/modules/mavlink/mavlink_receiver.h

@@ -188,6 +188,6 @@ private:
 	uint64_t _time_offset;
 
 	/* do not allow copying this class */
-	MavlinkReceiver(const MavlinkReceiver&);
+	MavlinkReceiver(const MavlinkReceiver &);
-	MavlinkReceiver operator=(const MavlinkReceiver&);
+	MavlinkReceiver operator=(const MavlinkReceiver &);
 };

src/modules/mavlink/mavlink_stream.h

@@ -89,7 +89,7 @@ public:
 	virtual unsigned get_size() = 0;
 
 protected:
-	Mavlink *    _mavlink;
+	Mavlink     *_mavlink;
 	unsigned int _interval;
 
 	virtual void send(const hrt_abstime t) = 0;
@@ -98,8 +98,8 @@ private:
 	hrt_abstime _last_sent;
 
 	/* do not allow top copying this class */
-	MavlinkStream(const MavlinkStream&);
+	MavlinkStream(const MavlinkStream &);
-	MavlinkStream& operator=(const MavlinkStream&);
+	MavlinkStream &operator=(const MavlinkStream &);
 };
 
 

src/modules/mc_att_control_multiplatform/mc_att_control.h

@@ -88,9 +88,9 @@ private:
 	bool		_task_should_exit;			/**< if true, sensor task should exit */
 	bool		_actuators_0_circuit_breaker_enabled;	/**< circuit breaker to suppress output */
 
-	px4::Publisher<px4_vehicle_attitude_setpoint> *	_att_sp_pub;			/**< attitude setpoint publication */
+	px4::Publisher<px4_vehicle_attitude_setpoint> 	*_att_sp_pub;			/**< attitude setpoint publication */
-	px4::Publisher<px4_vehicle_rates_setpoint> *	_v_rates_sp_pub;		/**< rate setpoint publication */
+	px4::Publisher<px4_vehicle_rates_setpoint> 	*_v_rates_sp_pub;		/**< rate setpoint publication */
-	px4::Publisher<px4_actuator_controls_0> *	_actuators_0_pub;		/**< attitude actuator controls publication */
+	px4::Publisher<px4_actuator_controls_0> 	*_actuators_0_pub;		/**< attitude actuator controls publication */
 
 	px4::NodeHandle _n;
 

src/modules/navigator/mission_feasibility_checker.h

@@ -78,7 +78,8 @@ public:
 	/*
 	 * Returns true if mission is feasible and false otherwise
 	 */
-	bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
+	bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence,
+				  float home_alt);
 
 };
 

src/modules/navigator/navigator_mode.cpp

@@ -58,7 +58,8 @@ NavigatorMode::~NavigatorMode()
 }
 
 void
-NavigatorMode::run(bool active) {
+NavigatorMode::run(bool active)
+{
 	if (active) {
 		if (_first_run) {
 			/* first run */

src/modules/navigator/navigator_mode.h

@@ -92,8 +92,8 @@ private:
 	/* this class has ptr data members, so it should not be copied,
 	 * consequently the copy constructors are private.
 	 */
-	NavigatorMode(const NavigatorMode&);
+	NavigatorMode(const NavigatorMode &);
-	NavigatorMode operator=(const NavigatorMode&);
+	NavigatorMode operator=(const NavigatorMode &);
 };
 
 #endif

src/modules/px4iofirmware/px4io.h

@@ -219,7 +219,8 @@ extern int	dsm_init(const char *device);
 extern bool	dsm_input(uint16_t *values, uint16_t *num_values, uint8_t *n_bytes, uint8_t **bytes);
 extern void	dsm_bind(uint16_t cmd, int pulses);
 extern int	sbus_init(const char *device);
-extern bool	sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels);
+extern bool	sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop,
+			   uint16_t max_channels);
 extern void	sbus1_output(uint16_t *values, uint16_t num_values);
 extern void	sbus2_output(uint16_t *values, uint16_t num_values);
 

src/modules/systemlib/cpuload.c

@@ -97,7 +97,8 @@ void cpuload_initialize_once()
 		system_load.tasks[system_load.total_count].start_time = now;
 		system_load.tasks[system_load.total_count].total_runtime = 0;
 		system_load.tasks[system_load.total_count].curr_start_time = 0;
-		system_load.tasks[system_load.total_count].tcb = sched_gettcb(system_load.total_count);	// it is assumed that these static threads have consecutive PIDs
+		system_load.tasks[system_load.total_count].tcb = sched_gettcb(
+					system_load.total_count);	// it is assumed that these static threads have consecutive PIDs
 		system_load.tasks[system_load.total_count].valid = true;
 	}
 }

src/modules/systemlib/mcu_version.h

@@ -62,6 +62,6 @@ __EXPORT void mcu_unique_id(uint32_t *uid_96_bit);
  * @param revstr The full chip name string
  * @return The silicon revision / version number as integer
  */
-__EXPORT int mcu_version(char* rev, char** revstr);
+__EXPORT int mcu_version(char *rev, char **revstr);
 
 __END_DECLS

src/modules/systemlib/mixer/mixer_group.cpp

@@ -76,8 +76,9 @@ MixerGroup::add_mixer(Mixer *mixer)
 
 	mpp = &_first;
 
-	while (*mpp != nullptr)
+	while (*mpp != nullptr) {
 		mpp = &((*mpp)->_next);
+	}
 
 	*mpp = mixer;
 	mixer->_next = nullptr;
@@ -185,6 +186,7 @@ MixerGroup::load_from_buf(const char *buf, unsigned &buflen)
 			/* only adjust buflen if parsing was successful */
 			buflen = resid;
 			debug("SUCCESS - buflen: %d", buflen);
+
 		} else {
 
 			/*

src/modules/systemlib/pwm_limit/pwm_limit.h

@@ -72,7 +72,8 @@ typedef struct {
 
 __EXPORT void pwm_limit_init(pwm_limit_t *limit);
 
-__EXPORT void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, const float *output, uint16_t *effective_pwm, pwm_limit_t *limit);
+__EXPORT void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm,
+			     const uint16_t *min_pwm, const uint16_t *max_pwm, const float *output, uint16_t *effective_pwm, pwm_limit_t *limit);
 
 __END_DECLS
 

src/modules/systemlib/systemlib.c

@@ -66,10 +66,11 @@ systemreset(bool to_bootloader)
 		/* XXX wow, this is evil - write a magic number into backup register zero */
 		*(uint32_t *)0x40002850 = 0xb007b007;
 	}
+
 	up_systemreset();
 
 	/* lock up here */
-	while(true);
+	while (true);
 }
 
 static void kill_task(FAR struct tcb_s *tcb, FAR void *arg);
@@ -87,7 +88,7 @@ static void kill_task(FAR struct tcb_s *tcb, FAR void *arg)
 	kill(tcb->pid, SIGUSR1);
 }
 
-int task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, char * const argv[])
+int task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, char *const argv[])
 {
 	int pid;
 

src/modules/uORB/topics/geofence_result.h

@@ -50,8 +50,7 @@
  * @{
  */
 
-struct geofence_result_s
+struct geofence_result_s {
-{
 	bool geofence_violated;		/**< true if the geofence is violated */
 };
 

src/modules/uORB/topics/home_position.h

@@ -55,8 +55,7 @@
 /**
  * GPS home position in WGS84 coordinates.
  */
-struct home_position_s
+struct home_position_s {
-{
 	uint64_t timestamp;			/**< Timestamp (microseconds since system boot)	*/
 
 	double lat;				/**< Latitude in degrees 			*/

src/modules/uORB/topics/mission_result.h

@@ -53,8 +53,7 @@
  * @{
  */
 
-struct mission_result_s
+struct mission_result_s {
-{
 	unsigned seq_reached;		/**< Sequence of the mission item which has been reached */
 	unsigned seq_current;		/**< Sequence of the current mission item				 */
 	bool reached;			/**< true if mission has been reached					 */

src/modules/uORB/topics/tecs_status.h

@@ -60,9 +60,9 @@ typedef enum {
 	TECS_MODE_CLIMBOUT
 } tecs_mode;
 
- /**
+/**
- * Internal values of the (m)TECS fixed wing speed alnd altitude control system
+* Internal values of the (m)TECS fixed wing speed alnd altitude control system
- */
+*/
 struct tecs_status_s {
 	uint64_t timestamp;		/**< timestamp, in microseconds since system start */
 

src/modules/uORB/uORB.h

@@ -184,7 +184,8 @@ extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *d
  *			ORB_DEFINE with no corresponding ORB_DECLARE)
  *			this function will return -1 and set errno to ENOENT.
  */
-extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance, int priority) __EXPORT;
+extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
+					int priority) __EXPORT;
 
 
 /**

src/modules/uavcan/sensors/baro.hpp

@@ -47,7 +47,7 @@ class UavcanBarometerBridge : public UavcanCDevSensorBridgeBase
 public:
 	static const char *const NAME;
 
-	UavcanBarometerBridge(uavcan::INode& node);
+	UavcanBarometerBridge(uavcan::INode &node);
 
 	const char *get_name() const override { return NAME; }
 
@@ -58,9 +58,9 @@ private:
 
 	void air_data_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData> &msg);
 
-	typedef uavcan::MethodBinder<UavcanBarometerBridge*,
+	typedef uavcan::MethodBinder < UavcanBarometerBridge *,
 		void (UavcanBarometerBridge::*)
-			(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData>&)>
+		(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData> &) >
 		AirDataCbBinder;
 
 	uavcan::Subscriber<uavcan::equipment::air_data::StaticAirData, AirDataCbBinder> _sub_air_data;

src/modules/uavcan/sensors/gnss.hpp

@@ -56,7 +56,7 @@ class UavcanGnssBridge : public IUavcanSensorBridge
 public:
 	static const char *const NAME;
 
-	UavcanGnssBridge(uavcan::INode& node);
+	UavcanGnssBridge(uavcan::INode &node);
 
 	const char *get_name() const override { return NAME; }
 
@@ -72,8 +72,8 @@ private:
 	 */
 	void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg);
 
-	typedef uavcan::MethodBinder<UavcanGnssBridge*,
+	typedef uavcan::MethodBinder < UavcanGnssBridge *,
-		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>&)>
+		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &) >
 		FixCbBinder;
 
 	uavcan::INode &_node;

src/modules/uavcan/sensors/mag.hpp

@@ -47,7 +47,7 @@ class UavcanMagnetometerBridge : public UavcanCDevSensorBridgeBase
 public:
 	static const char *const NAME;
 
-	UavcanMagnetometerBridge(uavcan::INode& node);
+	UavcanMagnetometerBridge(uavcan::INode &node);
 
 	const char *get_name() const override { return NAME; }
 
@@ -59,9 +59,9 @@ private:
 
 	void mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg);
 
-	typedef uavcan::MethodBinder<UavcanMagnetometerBridge*,
+	typedef uavcan::MethodBinder < UavcanMagnetometerBridge *,
 		void (UavcanMagnetometerBridge::*)
-			(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer>&)>
+		(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &) >
 		MagCbBinder;
 
 	uavcan::Subscriber<uavcan::equipment::ahrs::Magnetometer, MagCbBinder> _sub_mag;

src/modules/uavcan/uavcan_main.hpp

@@ -82,7 +82,7 @@ public:
 
 	static int	start(uavcan::NodeID node_id, uint32_t bitrate);
 
-	Node&		get_node() { return _node; }
+	Node		&get_node() { return _node; }
 
 	// TODO: move the actuator mixing stuff into the ESC controller class
 	static int	control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);
@@ -94,7 +94,7 @@ public:
 
 	void		print_info();
 
-	static UavcanNode* instance() { return _instance; }
+	static UavcanNode *instance() { return _instance; }
 
 private:
 	void		fill_node_info();
@@ -122,7 +122,7 @@ private:
 
 	UavcanEscController	_esc_controller;
 
-	List<IUavcanSensorBridge*> _sensor_bridges;		///< List of active sensor bridges
+	List<IUavcanSensorBridge *> _sensor_bridges;		///< List of active sensor bridges
 
 	MixerGroup		*_mixers = nullptr;
 

src/modules/unit_test/unit_test.cpp

@@ -57,13 +57,14 @@ void UnitTest::print_results(void)
 }
 
 /// @brief Used internally to the ut_assert macro to print assert failures.
-void UnitTest::_print_assert(const char* msg, const char* test, const char* file, int line)
+void UnitTest::_print_assert(const char *msg, const char *test, const char *file, int line)
 {
 	warnx("Assertion failed: %s - %s (%s:%d)", msg, test, file, line);
 }
 
 /// @brief Used internally to the ut_compare macro to print assert failures.
-void UnitTest::_print_compare(const char* msg, const char *v1_text, int v1, const char *v2_text, int v2, const char* file, int line)
+void UnitTest::_print_compare(const char *msg, const char *v1_text, int v1, const char *v2_text, int v2,
+			      const char *file, int line)
 {
 	warnx("Compare failed: %s - (%s:%d) (%s:%d) (%s:%d)", msg, v1_text, v1, v2_text, v2, file, line);
 }

src/platforms/px4_message.h

@@ -39,7 +39,7 @@
 #pragma once
 
 #if defined(__PX4_ROS)
-typedef const char* PX4TopicHandle;
+typedef const char *PX4TopicHandle;
 #else
 #include <uORB/uORB.h>
 typedef orb_id_t PX4TopicHandle;
@@ -68,8 +68,8 @@ public:
 
 	virtual ~PX4Message() {};
 
-	virtual M& data() {return _data;}
+	virtual M &data() {return _data;}
-	virtual const M& data() const {return _data;}
+	virtual const M &data() const {return _data;}
 private:
 	M _data;
 };

src/platforms/ros/nodes/position_estimator/position_estimator.cpp

@@ -64,14 +64,16 @@ void PositionEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstP
 
 	/* Fill px4 position topic with contents from modelstates topic */
 	int index = 0;
+
 	//XXX: maybe a more clever approach would be to do this not on every loop, need to check if and when
 	//gazebo rearranges indexes.
-	for(std::vector<std::string>::const_iterator it = msg->name.begin(); it != msg->name.end(); ++it) {
+	for (std::vector<std::string>::const_iterator it = msg->name.begin(); it != msg->name.end(); ++it) {
 		if (*it == "iris" || *it == "ardrone") {
 			index = it -  msg->name.begin();
 			break;
 		}
 	}
+
 	msg_v_l_pos.xy_valid = true;
 	msg_v_l_pos.z_valid = true;
 	msg_v_l_pos.v_xy_valid = true;

src/systemcmds/perf/perf.c

@@ -68,11 +68,13 @@ int perf_main(int argc, char *argv[])
 		if (strcmp(argv[1], "reset") == 0) {
 			perf_reset_all();
 			return 0;
+
 		} else if (strcmp(argv[1], "latency") == 0) {
 			perf_print_latency(0 /* stdout */);
 			fflush(stdout);
 			return 0;
 		}
+
 		printf("Usage: perf [reset | latency]\n");
 		return -1;
 	}

src/systemcmds/reboot/reboot.c

@@ -57,6 +57,7 @@ int reboot_main(int argc, char *argv[])
 		case 'b':
 			to_bootloader = true;
 			break;
+
 		default:
 			errx(1, "usage: reboot [-b]\n"
 			     "   -b   reboot into the bootloader");

src/systemcmds/tests/test_adc.c

@@ -71,8 +71,9 @@ int test_adc(int argc, char *argv[])
 		/* read all channels available */
 		ssize_t count = read(fd, data, sizeof(data));
 
-		if (count < 0)
+		if (count < 0) {
 			goto errout_with_dev;
+		}
 
 		unsigned channels = count / sizeof(data[0]);
 
@@ -88,7 +89,7 @@ int test_adc(int argc, char *argv[])
 
 errout_with_dev:
 
-	if (fd != 0) close(fd);
+	if (fd != 0) { close(fd); }
 
 	return OK;
 }

src/systemcmds/tests/test_hott_telemetry.c

@@ -190,7 +190,8 @@ int test_hott_telemetry(int argc, char *argv[])
 			warnx("PASS: Received %d out of %d valid byte pairs from the HoTT receiver device.", received_count, max_polls);
 
 		} else {
-			warnx("WARN: Received %d out of %d byte pairs of which %d were valid from the HoTT receiver device.", received_count, max_polls, valid_count);
+			warnx("WARN: Received %d out of %d byte pairs of which %d were valid from the HoTT receiver device.", received_count,
+			      max_polls, valid_count);
 		}
 
 	} else {

src/systemcmds/tests/test_uart_baudchange.c

@@ -146,9 +146,10 @@ int test_uart_baudchange(int argc, char *argv[])
 		/* uart2 -> */
 		r = write(uart2, sample_uart2, sizeof(sample_uart2));
 
-		if (r > 0)
+		if (r > 0) {
 			uart2_nwrite += r;
 		}
+	}
 
 	close(uart2);
 

unittests/sumd_test.cpp

@@ -8,8 +8,9 @@
 
 #include "gtest/gtest.h"
 
-TEST(SUMDTest, SUMD) {
+TEST(SUMDTest, SUMD)
-	const char* filepath = "testdata/sumd_data.txt";
+{
+	const char *filepath = "testdata/sumd_data.txt";
 
 	warnx("loading data from: %s", filepath);