AP_ExternalAHRS: Fixed formatting and comments

ArduPilot · Apr 17, 2024 · fcd4218 · fcd4218
1 parent 6e911c5
commit fcd4218
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Showing 2 changed files with 15 additions and 15 deletions.
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp
@@ -241,7 +241,7 @@ bool AP_ExternalAHRS_AdvancedNavigation::request_data(void)
         _fly_forward = in_fly_forward();
         _gnss_disable = gnss_is_disabled();
 
-        // Select AdNav vehicle for current flight mode. 
+        // Select AdNav vehicle for current flight mode.
         vehicle_type_e vehicle_type = vehicle_type_3d_aircraft;
         if (_fly_forward == true) {
             vehicle_type = vehicle_type_fixed_wing_plane;
@@ -254,7 +254,7 @@ bool AP_ExternalAHRS_AdvancedNavigation::request_data(void)
 
 int8_t AP_ExternalAHRS_AdvancedNavigation::get_port(void) const
 {
-    if (!_uart) {
+    if (_uart == nullptr) {
         return -1;
     }
     return _port_num;
@@ -531,7 +531,7 @@ bool AP_ExternalAHRS_AdvancedNavigation::sendPacketRequest()
     };
 
     AN_PACKET packet;
-   
+
     // load the AN_PACKETS_PERIOD Into the payload.
     packet.payload.packet_periods = periods;
     packet.update_checks(packet_id_packet_periods, packet.getPeriodsLength(periods));
@@ -603,7 +603,7 @@ bool AP_ExternalAHRS_AdvancedNavigation::set_filter_options(bool gnss_en, vehicl
     options_packet.dual_antenna_disabled = false;
     // set reserved packets to 0
     memset(options_packet.reserved, 0, sizeof(options_packet.reserved));
-    
+
     return set_filter_options(options_packet);
 }
 

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.h
@@ -38,13 +38,13 @@ class AP_ExternalAHRS_AdvancedNavigation_Decoder
 {
 public:
     uint8_t _buffer[AN_DECODE_BUFFER_SIZE];
-    uint16_t _buffer_length = 0;
-    uint64_t _packets_decoded = 0;
-    uint64_t _bytes_decoded = 0;
-    uint64_t _bytes_discarded = 0;
-    uint64_t _lrc_errors = 0;
-    uint64_t _crc_errors = 0;
-    size_t _bytes_received = 0;
+    uint16_t _buffer_length;
+    uint64_t _packets_decoded;
+    uint64_t _bytes_decoded;
+    uint64_t _bytes_discarded;
+    uint64_t _lrc_errors;
+    uint64_t _crc_errors;
+    size_t _bytes_received;
 
     int decode_packet(uint8_t* out_buffer, size_t buf_size);
 
@@ -330,7 +330,7 @@ class AP_ExternalAHRS_AdvancedNavigation: public AP_ExternalAHRS_backend
             } b;
         } filter;
     };
-    
+
     struct PACKED AN_SYSTEM_STATE {
         AN_STATUS status;
         uint32_t unix_time_seconds;
@@ -439,7 +439,7 @@ class AP_ExternalAHRS_AdvancedNavigation: public AP_ExternalAHRS_backend
         void update_checks(uint8_t header_id, uint8_t payload_length)
         {
             length = payload_length;
-            
+
             // Update the packet check and header id
             crc = crc16_ccitt(payload.raw_packet, payload_length, 0xFFFF);
             id = header_id;
@@ -450,7 +450,7 @@ class AP_ExternalAHRS_AdvancedNavigation: public AP_ExternalAHRS_backend
         }
 
         uint8_t getPeriodsLength(AN_PACKET_PERIODS packet_periods)
-        {            
+        {
             // Find the utilized size of the packet and make it the payload length.
             for (uint32_t idx = 0; idx < (AN_MAXIMUM_PACKET_SIZE - 2)/sizeof(AN_PERIOD); idx++)
             {
@@ -494,7 +494,7 @@ class AP_ExternalAHRS_AdvancedNavigation: public AP_ExternalAHRS_backend
     uint32_t _last_raw_gnss_pkt_ms;
     uint32_t _device_id;
     uint32_t _hardware_rev;
-    
+
     bool _gnss_disable;
     bool _fly_forward;