PX4 style fixes (excluding EKF generated code)

EKF/RingBuffer.h

@@ -45,7 +45,8 @@ template <typename data_type>
 class RingBuffer
 {
 public:
-	RingBuffer() {
+	RingBuffer()
+	{
 		if (allocate(1)) {
 			// initialize with one empty sample
 			data_type d = {};
@@ -81,17 +82,19 @@ class RingBuffer
 		for (uint8_t index = 0; index < _size; index++) {
 			_buffer[index] = {};
 		}
+
 		_first_write = true;
 
 		return true;
 	}
 
-	void unallocate() {
+	void unallocate()
+	{
 		delete[] _buffer;
 		_buffer = nullptr;
 	}
 
-	void push(const data_type& sample)
+	void push(const data_type &sample)
 	{
 		uint8_t head_new = _head;
 
@@ -115,12 +118,12 @@ class RingBuffer
 
 	data_type &operator[](const uint8_t index) { return _buffer[index]; }
 
-	const data_type& get_newest() { return _buffer[_head]; }
-	const data_type& get_oldest() { return _buffer[_tail]; }
+	const data_type &get_newest() { return _buffer[_head]; }
+	const data_type &get_oldest() { return _buffer[_tail]; }
 
 	uint8_t get_oldest_index() const { return _tail; }
 
-	bool pop_first_older_than(const uint64_t& timestamp, data_type *sample)
+	bool pop_first_older_than(const uint64_t &timestamp, data_type *sample)
 	{
 		// start looking from newest observation data
 		for (uint8_t i = 0; i < _size; i++) {

EKF/airspeed_fusion.cpp

@@ -121,6 +121,7 @@ void Ekf::fuseAirspeed()
 			for (unsigned row = 0; row <= 21; row++) {
 				Kfusion[row] = 0.0f;
 			}
+
 		} else {
 			// we have no other source of aiding, so use airspeed measurements to correct states
 			Kfusion[0] = SK_TAS[0]*(P[0][4]*SH_TAS[2] - P[0][22]*SH_TAS[2] + P[0][5]*SK_TAS[1] - P[0][23]*SK_TAS[1] + P[0][6]*vd*SH_TAS[0]);
@@ -164,6 +165,7 @@ void Ekf::fuseAirspeed()
 		if (_tas_test_ratio > 1.0f) {
 			_innov_check_fail_status.flags.reject_airspeed = true;
 			return;
+
 		} else {
 			_innov_check_fail_status.flags.reject_airspeed = false;
 		}
@@ -176,6 +178,7 @@ void Ekf::fuseAirspeed()
 		// then calculate P - KHP
 		float KHP[_k_num_states][_k_num_states];
 		float KH[5];
+
 		for (unsigned row = 0; row < _k_num_states; row++) {
 
 			KH[0] = Kfusion[row] * H_TAS[4];
@@ -198,11 +201,12 @@ void Ekf::fuseAirspeed()
 		// the covariance marix is unhealthy and must be corrected
 		bool healthy = true;
 		_fault_status.flags.bad_airspeed = false;
+
 		for (int i = 0; i < _k_num_states; i++) {
 			if (P[i][i] < KHP[i][i]) {
 				// zero rows and columns
-				zeroRows(P,i,i);
-				zeroCols(P,i,i);
+				zeroRows(P, i, i);
+				zeroCols(P, i, i);
 
 				//flag as unhealthy
 				healthy = false;