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/boards/aerocore/aerocore_spi.c

@@ -136,8 +136,8 @@ __EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 
 	switch (devid) {
 	case PX4_SPIDEV_GYRO:
-		/* Making sure the other peripherals are not selected */
+			/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
+			stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
 		break;

src/drivers/boards/px4fmu-v1/px4fmu_spi.c

@@ -90,8 +90,8 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 
 	switch (devid) {
 	case PX4_SPIDEV_GYRO:
-		/* Making sure the other peripherals are not selected */
+			/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
+			stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
 		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
 		break;

src/drivers/boards/px4io-v2/board_config.h

@@ -50,7 +50,7 @@
 /* these headers are not C++ safe */
 #include <stm32.h>
 #include <arch/board/board.h>
- 
+
 /******************************************************************************
  * Definitions
  ******************************************************************************/
@@ -117,7 +117,7 @@
 #define GPIO_SBUS_OUTPUT  (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
 #define GPIO_SBUS_OENABLE (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
 
-/* 
+/*
  * High-resolution timer
  */
 #define HRT_TIMER		1	/* use timer1 for the HRT */

src/drivers/device/i2c.h

@@ -63,7 +63,7 @@ public:
 	static int	set_bus_clock(unsigned bus, unsigned clock_hz);
 
 	static unsigned	int	_bus_clocks[3];
-	
+
 protected:
 	/**
 	 * The number of times a read or write operation will be retried on
@@ -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/drv_rgbled.h

@@ -58,7 +58,7 @@
 /** play the numbered script in (arg), repeating forever */
 #define RGBLED_PLAY_SCRIPT		_RGBLEDIOC(2)
 
-/** 
+/**
  * Set the user script; (arg) is a pointer to an array of script lines,
  * where each line is an array of four bytes giving <duration>, <command>, arg[0-2]
  *
@@ -79,7 +79,7 @@
 #define RGBLED_SET_PATTERN		_RGBLEDIOC(7)
 
 
-/* 
+/*
   structure passed to RGBLED_SET_RGB ioctl()
   Note that the driver scales the brightness to 0 to 255, regardless
   of the hardware scaling

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);
@@ -232,7 +233,7 @@ void frsky_send_frame2(int uart)
 		lon    = frsky_format_gps(fabsf(global_pos.lon));
 		lon_ew = (global_pos.lon < 0) ? 'W' : 'E';
 		speed  = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e)
-				* 25.0f / 46.0f;
+			 * 25.0f / 46.0f;
 		alt    = global_pos.alt;
 		sec    = tm_gps->tm_sec;
 	}

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

@@ -44,9 +44,10 @@
 #include "Limits.hpp"
 
 
-namespace math {
+namespace math
+{
 
-#ifndef CONFIG_ARCH_ARM	
+#ifndef CONFIG_ARCH_ARM
 #define M_PI_F 3.14159265358979323846f
 #endif
 

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

@@ -104,7 +104,7 @@ uint8_t st24_common_crc8(uint8_t *ptr, uint8_t len)
 
 
 int st24_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count, uint16_t *channels,
-		    uint16_t max_chan_count)
+		uint16_t max_chan_count)
 {
 
 	int ret = 1;
@@ -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

@@ -245,7 +245,7 @@ int do_gyro_calibration(int mavlink_fd)
 				mavlink_log_critical(mavlink_fd, CAL_FAILED_APPLY_CAL_MSG);
 			}
 		}
-		
+
 		if (failed) {
 			mavlink_and_console_log_critical(mavlink_fd, "ERROR: failed to set offset params");
 			res = ERROR;
@@ -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/fw_pos_control_l1/mtecs/mTecs.h

@@ -65,19 +65,19 @@ public:
 	 * Control in altitude setpoint and speed mode
 	 */
 	int updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed,
-			float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
+				float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
 
 	/*
 	 * Control in flightPathAngle setpoint (flollow a slope etc.) and speed mode
 	 */
 	int updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed,
-			float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
+				       float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
 
 	/*
 	 * Control in flightPathAngle setpoint (flollow a slope etc.) and acceleration mode (base case)
 	 */
 	int updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeedFiltered,
-			float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride);
+					      float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride);
 
 	/*
 	 * Reset all integrators

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/land_detector/LandDetector.cpp

@@ -46,8 +46,8 @@
 LandDetector::LandDetector() :
 	_landDetectedPub(-1),
 	_landDetected({0, false}),
-	_taskShouldExit(false),
+	      _taskShouldExit(false),
-	_taskIsRunning(false)
+	      _taskIsRunning(false)
 {
 	// ctor
 }

src/modules/land_detector/MulticopterLandDetector.h

@@ -102,13 +102,13 @@ private:
 	int _actuatorsSub;
 	int _armingSub;
 	int _parameterSub;
-    int _attitudeSub;
+	int _attitudeSub;
 
 	struct vehicle_global_position_s          _vehicleGlobalPosition;   /**< the result from global position subscription */
 	struct vehicle_status_s 			      _vehicleStatus;
 	struct actuator_controls_s                _actuators;
 	struct actuator_armed_s                   _arming;
-    struct vehicle_attitude_s                 _vehicleAttitude;
+	struct vehicle_attitude_s                 _vehicleAttitude;
 
 	uint64_t _landTimer;                                                /**< timestamp in microseconds since a possible land was detected*/
 };

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_block.h

@@ -83,9 +83,9 @@ protected:
 	 */
 	void mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp);
 
-    /**
+	/**
-     * Set previous position setpoint to current setpoint
+	 * Set previous position setpoint to current setpoint
-     */
+	 */
 	void set_previous_pos_setpoint();
 
 	/**

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/hx_stream.h

@@ -103,7 +103,7 @@ __EXPORT extern void		hx_stream_reset(hx_stream_t stream);
 /**
  * Prepare to send a frame.
  *
- * Use this in conjunction with hx_stream_send_next to 
+ * Use this in conjunction with hx_stream_send_next to
  * set the frame to be transmitted.
  *
  * Use hx_stream_send() to write to the stream fd directly.
@@ -124,7 +124,7 @@ __EXPORT extern int		hx_stream_start(hx_stream_t stream,
  * calling hx_stream_start first.
  *
  * @param stream	A handle returned from hx_stream_init.
- * @return		The byte to send, or -1 if there is 
+ * @return		The byte to send, or -1 if there is
  *			nothing left to send.
  */
 __EXPORT extern int		hx_stream_send_next(hx_stream_t stream);

src/modules/systemlib/mcu_version.h

@@ -50,7 +50,7 @@ enum MCU_REV {
 /**
  * Reports the microcontroller unique id.
  *
- * This ID is guaranteed to be unique for every mcu. 
+ * This ID is guaranteed to be unique for every mcu.
  * @param uid_96_bit A uint32_t[3] array to copy the data to.
  */
 __EXPORT void mcu_unique_id(uint32_t *uid_96_bit);
@@ -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

@@ -166,7 +166,7 @@ extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *d
  * node in /obj if required and publishes the initial data.
  *
  * Any number of advertisers may publish to a topic; publications are atomic
- * but co-ordination between publishers is not provided by the ORB. 
+ * but co-ordination between publishers is not provided by the ORB.
  *
  * @param meta		The uORB metadata (usually from the ORB_ID() macro)
  *			for the topic.
@@ -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/commander/commander.h

@@ -68,14 +68,14 @@ protected:
 	 * Set control mode flags based on stick positions (equiv to code in px4 commander)
 	 */
 	void EvalSwitches(const px4::manual_control_setpointConstPtr &msg,
-			px4::vehicle_status &msg_vehicle_status,
+			  px4::vehicle_status &msg_vehicle_status,
-			px4::vehicle_control_mode &msg_vehicle_control_mode);
+			  px4::vehicle_control_mode &msg_vehicle_control_mode);
 
 	/**
 	 * Sets offboard controll flags in msg_vehicle_control_mode
 	 */
 	void SetOffboardControl(const px4::offboard_control_mode &msg_offboard_control_mode,
-			px4::vehicle_control_mode &msg_vehicle_control_mode);
+				px4::vehicle_control_mode &msg_vehicle_control_mode);
 
 	ros::NodeHandle _n;
 	ros::Subscriber _man_ctrl_sp_sub;

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

@@ -57,9 +57,10 @@ 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");
+			     "   -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

@@ -146,8 +146,9 @@ 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);