uncrustify libraries/AP_Compass/Compass.h

libraries/AP_Compass/Compass.h

@@ -16,116 +16,120 @@
 class Compass
 {
 public:
-	int16_t			product_id;     /// product id
-	int16_t         mag_x;          ///< magnetic field strength along the X axis
-	int16_t         mag_y;          ///< magnetic field strength along the Y axis
-	int16_t         mag_z;          ///< magnetic field strength along the Z axis
-	uint32_t        last_update;    ///< micros() time of last update
-	bool			healthy;        ///< true if last read OK
-
-	/// Constructor
-	///
-	Compass();
-
-	/// Initialize the compass device.
-	///
-	/// @returns    True if the compass was initialized OK, false if it was not
-	///             found or is not functioning.
-	///
-	virtual bool init();
-	
-	/// Read the compass and update the mag_ variables.
-	///
-	virtual bool read(void) = 0;
-
-	/// Calculate the tilt-compensated heading_ variables.
-	///
-	/// @param  roll                The current airframe roll angle.
-	/// @param  pitch               The current airframe pitch angle.
-	///
+    int16_t product_id;                         /// product id
+    int16_t mag_x;                      ///< magnetic field strength along the X axis
+    int16_t mag_y;                      ///< magnetic field strength along the Y axis
+    int16_t mag_z;                      ///< magnetic field strength along the Z axis
+    uint32_t last_update;               ///< micros() time of last update
+    bool healthy;                               ///< true if last read OK
+
+    /// Constructor
+    ///
+    Compass();
+
+    /// Initialize the compass device.
+    ///
+    /// @returns    True if the compass was initialized OK, false if it was not
+    ///             found or is not functioning.
+    ///
+    virtual bool init();
+
+    /// Read the compass and update the mag_ variables.
+    ///
+    virtual bool read(void) = 0;
+
+    /// Calculate the tilt-compensated heading_ variables.
+    ///
+    /// @param  roll                The current airframe roll angle.
+    /// @param  pitch               The current airframe pitch angle.
+    ///
     /// @returns heading in radians
     ///
-	virtual float calculate_heading(float roll, float pitch);
+    virtual float calculate_heading(float roll, float pitch);
 
-	/// Calculate the tilt-compensated heading_ variables.
-	///
-	/// @param dcm_matrix			The current orientation rotation matrix
+    /// Calculate the tilt-compensated heading_ variables.
+    ///
+    /// @param dcm_matrix			The current orientation rotation matrix
     ///
     /// @returns heading in radians
-	///
-	virtual float calculate_heading(const Matrix3f &dcm_matrix);
-
-	/// Set the compass orientation matrix, used to correct for
-	/// various compass mounting positions.
-	///
-	/// @param  rotation_matrix     Rotation matrix to transform magnetometer readings
-	///                             to the body frame.
-	///
-	virtual void set_orientation(enum Rotation rotation);
-
-	/// Sets the compass offset x/y/z values.
-	///
-	/// @param  offsets             Offsets to the raw mag_ values.
-	///
-	virtual void set_offsets(const Vector3f &offsets);
-
-	/// Saves the current compass offset x/y/z values.
-	///
-	/// This should be invoked periodically to save the offset values maintained by
-	/// ::null_offsets.
-	///
-	virtual void save_offsets();
-
-	/// Returns the current offset values
-	///
-	/// @returns                    The current compass offsets.
-	///
-	virtual Vector3f &get_offsets();
-
-	/// Sets the initial location used to get declination
-	///
-	/// @param  latitude             GPS Latitude.
-	/// @param  longitude            GPS Longitude.
-	///
-	void set_initial_location(int32_t latitude, int32_t longitude);
-
-	/// Program new offset values.
-	///
-	/// @param  x                   Offset to the raw mag_x value.
-	/// @param  y                   Offset to the raw mag_y value.
-	/// @param  z                   Offset to the raw mag_z value.
-	///
-	void set_offsets(int x, int y, int z) { set_offsets(Vector3f(x, y, z)); }
-
-	/// Perform automatic offset updates
-	///
-	void null_offsets(void);
+    ///
+    virtual float calculate_heading(const Matrix3f &dcm_matrix);
+
+    /// Set the compass orientation matrix, used to correct for
+    /// various compass mounting positions.
+    ///
+    /// @param  rotation_matrix     Rotation matrix to transform magnetometer readings
+    ///                             to the body frame.
+    ///
+    virtual void set_orientation(enum Rotation rotation);
+
+    /// Sets the compass offset x/y/z values.
+    ///
+    /// @param  offsets             Offsets to the raw mag_ values.
+    ///
+    virtual void set_offsets(const Vector3f &offsets);
+
+    /// Saves the current compass offset x/y/z values.
+    ///
+    /// This should be invoked periodically to save the offset values maintained by
+    /// ::null_offsets.
+    ///
+    virtual void save_offsets();
+
+    /// Returns the current offset values
+    ///
+    /// @returns                    The current compass offsets.
+    ///
+    virtual Vector3f &get_offsets();
+
+    /// Sets the initial location used to get declination
+    ///
+    /// @param  latitude             GPS Latitude.
+    /// @param  longitude            GPS Longitude.
+    ///
+    void set_initial_location(int32_t latitude, int32_t longitude);
+
+    /// Program new offset values.
+    ///
+    /// @param  x                   Offset to the raw mag_x value.
+    /// @param  y                   Offset to the raw mag_y value.
+    /// @param  z                   Offset to the raw mag_z value.
+    ///
+    void set_offsets(int x, int y, int z) {
+        set_offsets(Vector3f(x, y, z));
+    }
+
+    /// Perform automatic offset updates
+    ///
+    void null_offsets(void);
 
     /// return true if the compass should be used for yaw calculations
-    bool use_for_yaw(void) { return healthy && _use_for_yaw; }
+    bool use_for_yaw(void) {
+        return healthy && _use_for_yaw;
+    }
 
-	/// Sets the local magnetic field declination.
-	///
-	/// @param  radians             Local field declination.
-	///
-	virtual void set_declination(float radians);
-	float get_declination();
+    /// Sets the local magnetic field declination.
+    ///
+    /// @param  radians             Local field declination.
+    ///
+    virtual void set_declination(float radians);
+    float get_declination();
 
     static const struct AP_Param::GroupInfo var_info[];
 
 protected:
-    enum Rotation		_orientation;
-	AP_Vector3f         _offset;
-	AP_Float            _declination;
-    AP_Int8             _learn;                 ///<enable calibration learning
-    AP_Int8             _use_for_yaw;           ///<enable use for yaw calculation
-    AP_Int8             _auto_declination;      ///<enable automatic declination code
+    enum Rotation _orientation;
+    AP_Vector3f _offset;
+    AP_Float _declination;
+    AP_Int8 _learn;                             ///<enable calibration learning
+    AP_Int8 _use_for_yaw;                       ///<enable use for yaw calculation
+    AP_Int8 _auto_declination;                  ///<enable automatic declination code
 
-	bool                _null_init_done;        ///< first-time-around flag used by offset nulling
+    bool _null_init_done;                           ///< first-time-around flag used by offset nulling
 
     ///< used by offset correction
     static const uint8_t _mag_history_size = 20;
-    uint8_t				_mag_history_index;
-	Vector3i            _mag_history[_mag_history_size];
+    uint8_t _mag_history_index;
+    Vector3i _mag_history[_mag_history_size];
 };
 #endif