Land detector: Fix code style

src/modules/land_detector/FixedwingLandDetector.cpp

@@ -49,18 +49,18 @@ FixedwingLandDetector::FixedwingLandDetector() : LandDetector(),
 	_paramHandle(),
 	_params(),
 	_vehicleLocalPositionSub(-1),
-	_vehicleLocalPosition({}),
-	_airspeedSub(-1),
-	_vehicleStatusSub(-1),
-	_armingSub(-1),
-	_airspeed{},
-	_vehicleStatus{},
-	_arming{},
-	_parameterSub(-1),
-	_velocity_xy_filtered(0.0f),
-	_velocity_z_filtered(0.0f),
-	_airspeed_filtered(0.0f),
-	_landDetectTrigger(0)
+	_vehicleLocalPosition( {}),
+		       _airspeedSub(-1),
+		       _vehicleStatusSub(-1),
+		       _armingSub(-1),
+		       _airspeed{},
+		       _vehicleStatus{},
+		       _arming{},
+		       _parameterSub(-1),
+		       _velocity_xy_filtered(0.0f),
+		       _velocity_z_filtered(0.0f),
+		       _airspeed_filtered(0.0f),
+		       _landDetectTrigger(0)
 {
 	_paramHandle.maxVelocity = param_find("LNDFW_VEL_XY_MAX");
 	_paramHandle.maxClimbRate = param_find("LNDFW_VEL_Z_MAX");
@@ -101,10 +101,12 @@ bool FixedwingLandDetector::update()
 
 	if (hrt_elapsed_time(&_vehicleLocalPosition.timestamp) < 500 * 1000) {
 		float val = 0.97f * _velocity_xy_filtered + 0.03f * sqrtf(_vehicleLocalPosition.vx *
-					_vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy);
+				_vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy);
+
 		if (PX4_ISFINITE(val)) {
 			_velocity_xy_filtered = val;
 		}
+
 		val = 0.99f * _velocity_z_filtered + 0.01f * fabsf(_vehicleLocalPosition.vz);
 
 		if (PX4_ISFINITE(val)) {

src/modules/land_detector/LandDetector.cpp

@@ -47,12 +47,11 @@
 
 LandDetector::LandDetector() :
 	_landDetectedPub(0),
-	_landDetected({0, false}),
-	_arming_time(0),
-	_taskShouldExit(false),
-	_taskIsRunning(false),
-	_work{}
-{
+	_landDetected( {0, false}),
+	       _arming_time(0),
+	       _taskShouldExit(false),
+	       _taskIsRunning(false),
+_work{} {
 	// ctor
 }
 
@@ -111,7 +110,8 @@ void LandDetector::cycle()
 	}
 
 	if (!_taskShouldExit) {
-		work_queue(LPWORK, &_work, (worker_t)&LandDetector::cycle_trampoline, this, USEC2TICK(1000000 / LAND_DETECTOR_UPDATE_RATE));
+		work_queue(LPWORK, &_work, (worker_t)&LandDetector::cycle_trampoline, this,
+			   USEC2TICK(1000000 / LAND_DETECTOR_UPDATE_RATE));
 	}
 }
 

src/modules/land_detector/LandDetector.h

@@ -99,7 +99,8 @@ protected:
 
 	static constexpr uint64_t LAND_DETECTOR_TRIGGER_TIME = 2000000;  /**< usec that landing conditions have to hold
                                                                           before triggering a land */
-	static constexpr uint64_t LAND_DETECTOR_ARM_PHASE_TIME = 1000000;	/**< time interval in which wider acceptance thresholds are used after arming */
+	static constexpr uint64_t LAND_DETECTOR_ARM_PHASE_TIME =
+		1000000;	/**< time interval in which wider acceptance thresholds are used after arming */
 
 protected:
 	orb_advert_t				_landDetectedPub;		/**< publisher for position in local frame */

src/modules/land_detector/MulticopterLandDetector.cpp

@@ -99,13 +99,14 @@ bool MulticopterLandDetector::update()
 	if (!_arming.armed) {
 		_arming_time = 0;
 		return true;
+
 	} else if (_arming_time == 0) {
 		_arming_time = hrt_absolute_time();
 	}
 
 	// return status based on armed state if no position lock is available
 	if (_vehicleGlobalPosition.timestamp == 0 ||
-		hrt_elapsed_time(&_vehicleGlobalPosition.timestamp) > 500000) {
+	    hrt_elapsed_time(&_vehicleGlobalPosition.timestamp) > 500000) {
 
 		// no position lock - not landed if armed
 		return !_arming.armed;
@@ -129,14 +130,14 @@ bool MulticopterLandDetector::update()
 	// check if we are moving horizontally
 	bool horizontalMovement = sqrtf(_vehicleGlobalPosition.vel_n * _vehicleGlobalPosition.vel_n
 					+ _vehicleGlobalPosition.vel_e * _vehicleGlobalPosition.vel_e) > _params.maxVelocity
-					&& _vehicleStatus.condition_global_position_valid;
+				  && _vehicleStatus.condition_global_position_valid;
 
 	// next look if all rotation angles are not moving
 	float maxRotationScaled = _params.maxRotation * armThresholdFactor;
 
 	bool rotating = (fabsf(_vehicleAttitude.rollspeed)  > maxRotationScaled) ||
-				    (fabsf(_vehicleAttitude.pitchspeed) > maxRotationScaled) ||
-				(fabsf(_vehicleAttitude.yawspeed) > maxRotationScaled);
+			(fabsf(_vehicleAttitude.pitchspeed) > maxRotationScaled) ||
+			(fabsf(_vehicleAttitude.yawspeed) > maxRotationScaled);
 
 	// check if thrust output is minimal (about half of default)
 	bool minimalThrust = _actuators.control[3] <= _params.maxThrottle;

src/modules/land_detector/land_detector_main.cpp

@@ -152,6 +152,7 @@ static int land_detector_start(const char *mode)
 				return 1;
 			}
 		}
+
 		printf("\n");
 	}
 
@@ -176,6 +177,7 @@ int land_detector_main(int argc, char *argv[])
 			warnx("land_detector start failed");
 			return 1;
 		}
+
 		return 0;
 	}