Fix style after rebasing on fixed format check

src/lib/FlightTasks/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp

@@ -51,6 +51,7 @@ bool FlightTaskManualAcceleration::initializeSubscriptions(SubscriptionArray &su
 	if (!FlightTaskManual::initializeSubscriptions(subscription_array)) {
 		return false;
 	}
+
 	return true;
 }
 
@@ -69,8 +70,10 @@ bool FlightTaskManualAcceleration::activate()
 bool FlightTaskManualAcceleration::update()
 {
 	// Yaw
-	_position_lock.updateYawFromStick(_yawspeed_setpoint, _yaw_setpoint, _sticks_expo(3) * math::radians(_param_mpc_man_y_max.get()), _yaw, _deltatime);
-	_yaw_setpoint = _position_lock.updateYawReset(_yaw_setpoint, _sub_attitude->get().quat_reset_counter, Quatf(_sub_attitude->get().delta_q_reset));
+	_position_lock.updateYawFromStick(_yawspeed_setpoint, _yaw_setpoint,
+					  _sticks_expo(3) * math::radians(_param_mpc_man_y_max.get()), _yaw, _deltatime);
+	_yaw_setpoint = _position_lock.updateYawReset(_yaw_setpoint, _sub_attitude->get().quat_reset_counter,
+			Quatf(_sub_attitude->get().delta_q_reset));
 
 	// Map sticks input to acceleration
 	_acceleration_setpoint = Vector3f(&_sticks_expo(0)) * 10;
@@ -81,7 +84,8 @@ bool FlightTaskManualAcceleration::update()
 
 	// Rotate horizontal acceleration input to body heading
 	float yaw_rotate = PX4_ISFINITE(_yaw_setpoint) ? _yaw_setpoint : _yaw;
-	Vector3f v_r = Vector3f(Dcmf(Eulerf(0.0f, 0.0f, yaw_rotate)) * Vector3f(_acceleration_setpoint(0), _acceleration_setpoint(1), 0.0f));
+	Vector3f v_r = Vector3f(Dcmf(Eulerf(0.0f, 0.0f, yaw_rotate)) * Vector3f(_acceleration_setpoint(0),
+				_acceleration_setpoint(1), 0.0f));
 	_acceleration_setpoint(0) = v_r(0);
 	_acceleration_setpoint(1) = v_r(1);
 

src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp

@@ -97,8 +97,10 @@ bool FlightTaskManualAltitude::activate()
 void FlightTaskManualAltitude::_scaleSticks()
 {
 	// Use sticks input with deadzone and exponential curve for vertical velocity and yawspeed
-	_position_lock.updateYawFromStick(_yawspeed_setpoint, _yaw_setpoint, _sticks_expo(3) * math::radians(_param_mpc_man_y_max.get()), _yaw, _deltatime);
-	_yaw_setpoint = _position_lock.updateYawReset(_yaw_setpoint, _sub_attitude->get().quat_reset_counter, Quatf(_sub_attitude->get().delta_q_reset));
+	_position_lock.updateYawFromStick(_yawspeed_setpoint, _yaw_setpoint,
+					  _sticks_expo(3) * math::radians(_param_mpc_man_y_max.get()), _yaw, _deltatime);
+	_yaw_setpoint = _position_lock.updateYawReset(_yaw_setpoint, _sub_attitude->get().quat_reset_counter,
+			Quatf(_sub_attitude->get().delta_q_reset));
 
 	const float vel_max_z = (_sticks(2) > 0.0f) ? _constraints.speed_down : _constraints.speed_up;
 	_velocity_setpoint(2) = vel_max_z * _sticks_expo(2);

src/lib/FlightTasks/tasks/Utility/PositionLock.hpp

@@ -58,7 +58,9 @@ class PositionLock
 	 * @param yaw_stick_input current yaw rotational rate state
 	 * @return yaw setpoint to execute to have a yaw lock at the correct moment in time
 	 */
-	void updateYawFromStick(float &yawspeed_setpoint, float &yaw_setpoint, const float desired_yawspeed, const float yaw, const float dt) {
+	void updateYawFromStick(float &yawspeed_setpoint, float &yaw_setpoint, const float desired_yawspeed, const float yaw,
+				const float dt)
+	{
 		_yawspeed_slew_rate.setSlewRate(1.f);
 		yawspeed_setpoint = _yawspeed_slew_rate.update(desired_yawspeed, dt);
 		yaw_setpoint = updateYawLock(yaw, yawspeed_setpoint, yaw_setpoint);
@@ -75,7 +77,8 @@ class PositionLock
 	 * @param yaw current yaw setpoint which then will be overwritten by the return value
 	 * @return yaw setpoint to execute to have a yaw lock at the correct moment in time
 	 */
-	static float updateYawLock(const float yaw, const float yawspeed_setpoint, const float yaw_setpoint) {
+	static float updateYawLock(const float yaw, const float yawspeed_setpoint, const float yaw_setpoint)
+	{
 		// Yaw-lock depends on desired yawspeed input. If not locked, yaw_sp is set to NAN.
 		if (fabsf(yawspeed_setpoint) > FLT_EPSILON) {
 			// no fixed heading when rotating around yaw by stick
@@ -98,12 +101,14 @@ class PositionLock
 	 * @param delta_q_reset rotation offset from the last reset that happened
 	 * @return updated yaw setpoint to use with reference reset taken into account
 	 */
-	float updateYawReset(const float yaw_setpoint, const uint8_t yaw_reset_counter, const matrix::Quatf delta_q_reset) {
+	float updateYawReset(const float yaw_setpoint, const uint8_t yaw_reset_counter, const matrix::Quatf delta_q_reset)
+	{
 		// check if reset counter changed and update yaw setpoint if necessary
 		if (yaw_reset_counter != _yaw_reset_counter) {
 			_yaw_reset_counter = yaw_reset_counter;
 			return yaw_setpoint + matrix::Eulerf(delta_q_reset).psi();
 		}
+
 		return yaw_setpoint;
 	}
 

src/lib/SlewRate/SlewRate.hpp

@@ -68,7 +68,8 @@ class SlewRate
 	 * @param deltatime time in seconds since last update
 	 * @return actual value that complies with the slew rate
 	 */
-	Type update(const Type new_value, const float deltatime) {
+	Type update(const Type new_value, const float deltatime)
+	{
 		// Limit the rate of change of the value
 		const float dvalue_desired = new_value - _value;
 		const float dvalue_max = _slew_rate * deltatime;

src/lib/SlewRate/SlewRateTest.cpp

@@ -39,6 +39,7 @@ TEST(AttitudeControlTest, SlewUpLimited)
 	SlewRate<float> _slew_rate;
 	_slew_rate.setSlewRate(.1f);
 	_slew_rate.setForcedValue(-5.5f);
+
 	for (int i = 1; i <= 10; i++) {
 		EXPECT_FLOAT_EQ(_slew_rate.update(20.f, .2f), -5.5f + i * .02f);
 	}
@@ -49,6 +50,7 @@ TEST(AttitudeControlTest, SlewDownLimited)
 	SlewRate<float> _slew_rate;
 	_slew_rate.setSlewRate(1.1f);
 	_slew_rate.setForcedValue(17.3f);
+
 	for (int i = 1; i <= 10; i++) {
 		EXPECT_FLOAT_EQ(_slew_rate.update(-50.f, .3f), 17.3f - i * .33f);
 	}
@@ -59,9 +61,11 @@ TEST(AttitudeControlTest, ReachValueSlewed)
 	SlewRate<float> _slew_rate;
 	_slew_rate.setSlewRate(.2f);
 	_slew_rate.setForcedValue(8.f);
+
 	for (int i = 1; i <= 10; i++) {
 		EXPECT_FLOAT_EQ(_slew_rate.update(10.f, 1.f), 8.f + i * .2f);
 	}
+
 	for (int i = 1; i <= 10; i++) {
 		EXPECT_FLOAT_EQ(_slew_rate.update(10.f, 1.f), 10.f);
 	}

src/modules/mc_pos_control/Utility/ControlMath.cpp

@@ -63,7 +63,8 @@ vehicle_attitude_setpoint_s accelerationToAttitude(const Vector3f &acc_sp, const
 	return att_sp;
 }
 
-vehicle_attitude_setpoint_s bodyzToAttitude(Vector3f body_z, const float yaw_sp) {
+vehicle_attitude_setpoint_s bodyzToAttitude(Vector3f body_z, const float yaw_sp)
+{
 	vehicle_attitude_setpoint_s att_sp = {};
 	att_sp.yaw_body = yaw_sp;
 

src/modules/mc_pos_control/Utility/ControlMath.hpp

@@ -59,7 +59,8 @@ vehicle_attitude_setpoint_s thrustToAttitude(const matrix::Vector3f &thr_sp, con
  * @param yaw_sp the desired yaw setpoint
  * @return vehicle_attitude_setpoints_s struct for attitude controller
  */
-vehicle_attitude_setpoint_s accelerationToAttitude(const matrix::Vector3f &acc_sp, const float yaw_sp, const float hover_thrust);
+vehicle_attitude_setpoint_s accelerationToAttitude(const matrix::Vector3f &acc_sp, const float yaw_sp,
+		const float hover_thrust);
 
 /**
  * Converts a body z vector and yaw set-point to a desired attitude.