fix code style

src/comm/QGCXPlaneLink.cc

@@ -73,7 +73,8 @@ QGCXPlaneLink::~QGCXPlaneLink()
     // Tell the thread to exit
     _should_exit = true;
 
-    if (socket) {
+    if (socket)
+    {
         socket->close();
         socket->deleteLater();
         socket = NULL;
@@ -109,18 +110,22 @@ void QGCXPlaneLink::storeSettings()
 void QGCXPlaneLink::setVersion(const QString &version)
 {
     unsigned int oldVersion = xPlaneVersion;
+
     if (version.contains("9"))
     {
         xPlaneVersion = 9;
     }
+
     else if (version.contains("10"))
     {
         xPlaneVersion = 10;
     }
+
     else if (version.contains("11"))
     {
         xPlaneVersion = 11;
     }
+
     else if (version.contains("12"))
     {
         xPlaneVersion = 12;
@@ -136,19 +141,23 @@ void QGCXPlaneLink::setVersion(unsigned int version)
 {
     bool changed = (xPlaneVersion != version);
     xPlaneVersion = version;
+
     if (changed) emit versionChanged(QString("X-Plane %1").arg(xPlaneVersion));
 }
 
 void QGCXPlaneLink::enableHilActuatorControls(bool enable)
 {
-    if (enable != _useHilActuatorControls) {
+    if (enable != _useHilActuatorControls)
+    {
         _useHilActuatorControls = enable;
     }
 
     /* Only use override for new message and specific airframes */
     MAV_TYPE type = _vehicle->vehicleType();
     float value = 0.0f;
-    if (type == MAV_TYPE_VTOL_RESERVED2) {
+
+    if (type == MAV_TYPE_VTOL_RESERVED2)
+    {
         value = (enable ? 1.0f : 0.0f);
     }
 
@@ -163,12 +172,14 @@ void QGCXPlaneLink::enableHilActuatorControls(bool enable)
  **/
 void QGCXPlaneLink::run()
 {
-    if (!_vehicle) {
+    if (!_vehicle)
+    {
         emit statusMessage("No MAV present");
         return;
     }
 
-    if (connectState) {
+    if (connectState)
+    {
         emit statusMessage("Already connected");
         return;
     }
@@ -176,7 +187,9 @@ void QGCXPlaneLink::run()
     socket = new QUdpSocket(this);
     socket->moveToThread(this);
     connectState = socket->bind(localHost, localPort, QAbstractSocket::ReuseAddressHint);
-    if (!connectState) {
+
+    if (!connectState)
+    {
 
         emit statusMessage("Binding socket failed!");
 
@@ -244,7 +257,8 @@ void QGCXPlaneLink::run()
 
     _should_exit = false;
 
-    while(!_should_exit) {
+    while (!_should_exit)
+    {
         QCoreApplication::processEvents();
         QGC::SLEEP::msleep(5);
     }
@@ -278,7 +292,8 @@ void QGCXPlaneLink::processError(QProcess::ProcessError err)
 {
     QString msg;
 
-    switch(err) {
+    switch (err)
+    {
     case QProcess::FailedToStart:
         msg = tr("X-Plane Failed to start. Please check if the path and command is correct");
         break;
@@ -322,11 +337,13 @@ void QGCXPlaneLink::setRemoteHost(const QString& newHost)
     if (newHost.contains(":"))
     {
         QHostInfo info = QHostInfo::fromName(newHost.split(":").first());
+
         if (info.error() == QHostInfo::NoError)
         {
             // Add newHost
             QList<QHostAddress> newHostAddresses = info.addresses();
             QHostAddress address;
+
             for (int i = 0; i < newHostAddresses.size(); i++)
             {
                 // Exclude loopback IPv4 and all IPv6 addresses
@@ -335,18 +352,22 @@ void QGCXPlaneLink::setRemoteHost(const QString& newHost)
                     address = newHostAddresses.at(i);
                 }
             }
+
             remoteHost = address;
             // Set localPort according to user input
             remotePort = newHost.split(":").last().toInt();
         }
     }
+
     else
     {
         QHostInfo info = QHostInfo::fromName(newHost);
+
         if (info.error() == QHostInfo::NoError)
         {
             // Add newHost
             remoteHost = info.addresses().first();
+
             if (remotePort == 0) remotePort = 49000;
         }
     }
@@ -363,12 +384,15 @@ void QGCXPlaneLink::setRemoteHost(const QString& newHost)
 void QGCXPlaneLink::updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode)
 {
     /* Only use HIL_CONTROL when the checkbox is unchecked */
-    if (_useHilActuatorControls) {
+    if (_useHilActuatorControls)
+    {
         //qDebug() << "received HIL_CONTROL but not using it";
         return;
     }
+
 #pragma pack(push, 1)
-    struct payload {
+    struct payload
+    {
         char b[5];
         int index;
         float f[8];
@@ -401,6 +425,7 @@ void QGCXPlaneLink::updateControls(quint64 time, float rollAilerons, float pitch
         p.index = 25;
         writeBytesSafe((const char *)&p, sizeof(p));
     }
+
     else
     {
         // direct pass-through, normal fixed-wing.
@@ -431,7 +456,8 @@ void QGCXPlaneLink::updateControls(quint64 time, float rollAilerons, float pitch
 
 void QGCXPlaneLink::updateActuatorControls(quint64 time, quint64 flags, float ctl_0, float ctl_1, float ctl_2, float ctl_3, float ctl_4, float ctl_5, float ctl_6, float ctl_7, float ctl_8, float ctl_9, float ctl_10, float ctl_11, float ctl_12, float ctl_13, float ctl_14, float ctl_15, quint8 mode)
 {
-    if (!_useHilActuatorControls) {
+    if (!_useHilActuatorControls)
+    {
         //qDebug() << "received HIL_ACTUATOR_CONTROLS but not using it";
         return;
     }
@@ -445,7 +471,8 @@ void QGCXPlaneLink::updateActuatorControls(quint64 time, quint64 flags, float ct
     Q_UNUSED(ctl_15);
 
 #pragma pack(push, 1)
-    struct payload {
+    struct payload
+    {
         char b[5];
         int index;
         float f[8];
@@ -461,7 +488,8 @@ void QGCXPlaneLink::updateActuatorControls(quint64 time, quint64 flags, float ct
     /* Initialize with zeroes */
     memset(p.f, 0, sizeof(p.f));
 
-    switch (_vehicle->vehicleType()) {
+    switch (_vehicle->vehicleType())
+    {
     case MAV_TYPE_QUADROTOR:
     case MAV_TYPE_HEXAROTOR:
     case MAV_TYPE_OCTOROTOR:
@@ -480,6 +508,7 @@ void QGCXPlaneLink::updateActuatorControls(quint64 time, quint64 flags, float ct
             writeBytesSafe((const char *)&p, sizeof(p));
             break;
         }
+
     case MAV_TYPE_VTOL_RESERVED2:
         {
             /**
@@ -507,6 +536,7 @@ void QGCXPlaneLink::updateActuatorControls(quint64 time, quint64 flags, float ct
 
             break;
         }
+
     default:
         {
             /* direct pass-through, normal fixed-wing. */
@@ -536,7 +566,8 @@ void QGCXPlaneLink::updateActuatorControls(quint64 time, quint64 flags, float ct
 
 }
 
-Eigen::Matrix3f euler_to_wRo(double yaw, double pitch, double roll) {
+Eigen::Matrix3f euler_to_wRo(double yaw, double pitch, double roll)
+{
     double c__ = cos(yaw);
     double _c_ = cos(pitch);
     double __c = cos(roll);
@@ -591,9 +622,13 @@ void QGCXPlaneLink::readBytes()
     quint16 senderPort;
 
     unsigned int s = socket->pendingDatagramSize();
+
     if (s > maxLength) std::cerr << __FILE__ << __LINE__ << " UDP datagram overflow, allowed to read less bytes than datagram size: " << s << std::endl;
+
     socket->readDatagram(data, maxLength, &sender, &senderPort);
-    if (s > maxLength) {
+
+    if (s > maxLength)
+    {
         std::string headStr = std::string(data, data + 5);
         std::cerr << __FILE__ << __LINE__ << " UDP datagram header: " << headStr << std::endl;
     }
@@ -605,7 +640,8 @@ void QGCXPlaneLink::readBytes()
     //qDebug() << "XPLANE:" << "LEN:" << s << "segs:" << nsegs;
 
 #pragma pack(push, 1)
-    struct payload {
+    struct payload
+    {
         int index;
         float f[8];
     } p;
@@ -620,7 +656,8 @@ void QGCXPlaneLink::readBytes()
     {
         xPlaneConnected = true;
 
-        if (oldConnectionState != xPlaneConnected) {
+        if (oldConnectionState != xPlaneConnected)
+        {
             simUpdateFirst = QGC::groundTimeMilliseconds();
         }
 
@@ -638,6 +675,7 @@ void QGCXPlaneLink::readBytes()
 
                 //qDebug() << "SPEEDS:" << "airspeed" << airspeed << "m/s, groundspeed" << groundspeed << "m/s";
             }
+
             if (p.index == 4)
             {
                 // WORKAROUND: IF ground speed <<1m/s and altitude-above-ground <1m, do NOT use the X-Plane data, because X-Plane (tested
@@ -657,6 +695,7 @@ void QGCXPlaneLink::readBytes()
 
                     //qDebug() << "Calculated values" << gr[0] << gr[1] << gr[2];
                 }
+
                 else
                 {
                     // Accelerometer readings, directly from X-Plane and including centripetal forces.
@@ -671,6 +710,7 @@ void QGCXPlaneLink::readBytes()
                 fields_changed |= (1 << 0) | (1 << 1) | (1 << 2);
                 emitUpdate = true;
             }
+
             // atmospheric pressure aircraft for XPlane 9 and 10
             else if (p.index == 6)
             {
@@ -679,6 +719,7 @@ void QGCXPlaneLink::readBytes()
                 temperature = p.f[1];
                 fields_changed |= (1 << 9) | (1 << 12);
             }
+
             // Forward controls from X-Plane to MAV, not very useful
             // better: Connect Joystick to QGroundControl
 //            else if (p.index == 8)
@@ -700,6 +741,7 @@ void QGCXPlaneLink::readBytes()
 
                 emitUpdate = true;
             }
+
             else if ((xPlaneVersion == 10 && p.index == 17) || (xPlaneVersion == 9 && p.index == 18))
             {
                 //qDebug() << "HDNG" << "pitch" << p.f[0] << "roll" << p.f[1] << "hding true" << p.f[2] << "hding mag" << p.f[3];
@@ -708,19 +750,25 @@ void QGCXPlaneLink::readBytes()
                 yaw = p.f[2] / 180.0f * M_PI;
 
                 // X-Plane expresses yaw as 0..2 PI
-                if (yaw > M_PI) {
+                if (yaw > M_PI)
+                {
                     yaw -= 2.0f * static_cast<float>(M_PI);
                 }
-                if (yaw < -M_PI) {
+
+                if (yaw < -M_PI)
+                {
                     yaw += 2.0f * static_cast<float>(M_PI);
                 }
 
                 float yawmag = p.f[3] / 180.0f * M_PI;
 
-                if (yawmag > M_PI) {
+                if (yawmag > M_PI)
+                {
                     yawmag -= 2.0f * static_cast<float>(M_PI);
                 }
-                if (yawmag < -M_PI) {
+
+                if (yawmag < -M_PI)
+                {
                     yawmag += 2.0f * static_cast<float>(M_PI);
                 }
 
@@ -785,6 +833,7 @@ void QGCXPlaneLink::readBytes()
                 alt = p.f[2] * 0.3048f; // convert feet (MSL) to meters
                 alt_agl = p.f[3] * 0.3048f; //convert feet (AGL) to meters
             }
+
             else if (p.index == 21)
             {
                 vy = p.f[3];
@@ -793,6 +842,7 @@ void QGCXPlaneLink::readBytes()
                 // for us.
                 vz = -p.f[4];
             }
+
             else if (p.index == 12)
             {
                 //qDebug() << "AIL/ELEV/RUD" << p.f[0] << p.f[1] << p.f[2];
@@ -835,7 +885,8 @@ void QGCXPlaneLink::readBytes()
     }
 
     // Wait for 0.5s before actually using the data, so that all fields are filled
-    if (QGC::groundTimeMilliseconds() - simUpdateFirst < 500) {
+    if (QGC::groundTimeMilliseconds() - simUpdateFirst < 500)
+    {
         return;
     }
 
@@ -843,7 +894,9 @@ void QGCXPlaneLink::readBytes()
     if (emitUpdate && (QGC::groundTimeMilliseconds() - simUpdateLast) > 2)
     {
         simUpdateHz = simUpdateHz * 0.9f + 0.1f * (1000.0f / (QGC::groundTimeMilliseconds() - simUpdateLast));
-        if (QGC::groundTimeMilliseconds() - simUpdateLastText > 2000) {
+
+        if (QGC::groundTimeMilliseconds() - simUpdateLastText > 2000)
+        {
             emit statusMessage(tr("Receiving from XPlane at %1 Hz").arg(static_cast<int>(simUpdateHz)));
             // Reset lowpass with current value
             simUpdateHz = (1000.0f / (QGC::groundTimeMilliseconds() - simUpdateLast));
@@ -895,14 +948,18 @@ void QGCXPlaneLink::readBytes()
             int satellites = 8;
 
             emit sensorHilGpsChanged(QGC::groundTimeUsecs(), lat, lon, alt, gps_fix_type, eph, epv, vel, vx, vy, vz, cog, satellites);
-        } else {
+        }
+
+        else
+        {
             emit hilStateChanged(QGC::groundTimeUsecs(), roll, pitch, yaw, rollspeed,
                                  pitchspeed, yawspeed, lat, lon, alt,
                                  vx, vy, vz, ind_airspeed, true_airspeed, xacc, yacc, zacc);
         }
 
         // Limit ground truth to 25 Hz
-        if (QGC::groundTimeMilliseconds() - simUpdateLastGroundTruth > 40) {
+        if (QGC::groundTimeMilliseconds() - simUpdateLastGroundTruth > 40)
+        {
             emit hilGroundTruthChanged(QGC::groundTimeUsecs(), roll, pitch, yaw, rollspeed,
                                        pitchspeed, yawspeed, lat, lon, alt,
                                        vx, vy, vz, ind_airspeed, true_airspeed, xacc, yacc, zacc);
@@ -948,7 +1005,10 @@ bool QGCXPlaneLink::disconnectSimulation()
     if (connectState)
     {
         _should_exit = true;
-    } else {
+    }
+
+    else
+    {
         emit simulationDisconnected();
         emit simulationConnected(false);
     }
@@ -967,22 +1027,27 @@ void QGCXPlaneLink::selectAirframe(const QString& plane)
             airframeID = AIRFRAME_QUAD_X_MK_10INCH_I2C;
             emit airframeChanged("QRO_X / MK");
         }
+
         else if (plane.contains("ARDRONE") && airframeID != AIRFRAME_QUAD_X_ARDRONE)
         {
             airframeID = AIRFRAME_QUAD_X_ARDRONE;
             emit airframeChanged("QRO_X / ARDRONE");
         }
+
         else
         {
             bool changed = (airframeID != AIRFRAME_QUAD_DJI_F450_PWM);
             airframeID = AIRFRAME_QUAD_DJI_F450_PWM;
+
             if (changed) emit airframeChanged("QRO_X / DJI-F450 / PWM");
         }
     }
+
     else
     {
         bool changed = (airframeID != AIRFRAME_UNKNOWN);
         airframeID = AIRFRAME_UNKNOWN;
+
         if (changed) emit airframeChanged("X Plane default");
     }
 }
@@ -1087,9 +1152,13 @@ void QGCXPlaneLink::setRandomAttitude()
  **/
 bool QGCXPlaneLink::connectSimulation()
 {
-    if (connectState) {
+    if (connectState)
+    {
         qDebug() << "Simulation already active";
-    } else {
+    }
+
+    else
+    {
         qDebug() << "STARTING X-PLANE LINK, CONNECTING TO" << remoteHost << ":" << remotePort;
         // XXX Hack
         storeSettings();
@@ -1124,7 +1193,8 @@ void QGCXPlaneLink::setName(QString name)
 void QGCXPlaneLink::sendDataRef(QString ref, float value)
 {
 #pragma pack(push, 1)
-    struct payload {
+    struct payload
+    {
         char b[5];
         float value;
         char name[500];
@@ -1147,12 +1217,16 @@ void QGCXPlaneLink::sendDataRef(QString ref, float value)
 
     /* Send command */
     QByteArray ba = ref.toUtf8();
-    if (ba.length() > 500) {
+
+    if (ba.length() > 500)
+    {
         return;
     }
 
-    for (int i = 0; i < ba.length(); i++) {
+    for (int i = 0; i < ba.length(); i++)
+    {
         dref.name[i] = ba.at(i);
     }
+
     writeBytesSafe((const char *)&dref, sizeof(dref));
 }

src/comm/QGCXPlaneLink.h

@@ -51,7 +51,8 @@ public:
 
     bool isConnected();
     qint64 bytesAvailable();
-    int getPort() const {
+    int getPort() const
+    {
         return localPort;
     }
 
@@ -88,11 +89,13 @@ public:
         return (int)airframeID;
     }
 
-    bool sensorHilEnabled() {
+    bool sensorHilEnabled()
+    {
         return _sensorHilEnabled;
     }
 
-    bool useHilActuatorControls() {
+    bool useHilActuatorControls()
+    {
         return _useHilActuatorControls;
     }
 
@@ -131,9 +134,11 @@ public slots:
     /** @brief Set the simulator version as integer */
     void setVersion(unsigned int version);
 
-    void enableSensorHIL(bool enable) {
+    void enableSensorHIL(bool enable)
+    {
         if (enable != _sensorHilEnabled)
             _sensorHilEnabled = enable;
+
         emit sensorHilChanged(enable);
     }
 

src/uas/UAS.cc

@@ -201,16 +201,19 @@ void UAS::receiveMessage(mavlink_message_t message)
                 componentName = "ANONYMOUS";
                 break;
             }
+
         case MAV_COMP_ID_IMU:
             {
                 componentName = "IMU #1";
                 break;
             }
+
         case MAV_COMP_ID_CAMERA:
             {
                 componentName = "CAMERA";
                 break;
             }
+
         case MAV_COMP_ID_MISSIONPLANNER:
             {
                 componentName = "MISSIONPLANNER";
@@ -240,6 +243,7 @@ void UAS::receiveMessage(mavlink_message_t message)
             // Prefer IMU 2 over IMU 1 (FIXME)
             componentID[message.msgid] = MAV_COMP_ID_IMU_2;
             break;
+
         default:
             // Do nothing
             break;
@@ -251,6 +255,7 @@ void UAS::receiveMessage(mavlink_message_t message)
             // Prefer the first component
             componentID[message.msgid] = message.compid;
         }
+
         else
         {
             // Got this message already
@@ -272,6 +277,7 @@ void UAS::receiveMessage(mavlink_message_t message)
                 {
                     break;
                 }
+
                 mavlink_heartbeat_t state;
                 mavlink_msg_heartbeat_decode(&message, &state);
 
@@ -303,6 +309,7 @@ void UAS::receiveMessage(mavlink_message_t message)
                 {
                     break;
                 }
+
                 mavlink_sys_status_t state;
                 mavlink_msg_sys_status_decode(&message, &state);
 
@@ -336,10 +343,12 @@ void UAS::receiveMessage(mavlink_message_t message)
                 {
                     state.drop_rate_comm = 10000;
                 }
+
                 emit dropRateChanged(this->getUASID(), state.drop_rate_comm / 100.0f);
                 emit valueChanged(uasId, name.arg("drop_rate_comm"), "%", state.drop_rate_comm / 100.0f, time);
             }
             break;
+
         case MAVLINK_MSG_ID_ATTITUDE:
             {
                 mavlink_attitude_t attitude;
@@ -361,6 +370,7 @@ void UAS::receiveMessage(mavlink_message_t message)
                 }
             }
             break;
+
         case MAVLINK_MSG_ID_ATTITUDE_QUATERNION:
             {
                 mavlink_attitude_quaternion_t attitude;
@@ -390,17 +400,24 @@ void UAS::receiveMessage(mavlink_message_t message)
                 float phi, theta, psi;
                 theta = asin(-dcm[2][0]);
 
-            if (fabs(theta - M_PI_2) < 1.0e-3f) {
+                if (fabs(theta - M_PI_2) < 1.0e-3f)
+                {
                     phi = 0.0f;
                     psi = (atan2(dcm[1][2] - dcm[0][1],
                                  dcm[0][2] + dcm[1][1]) + phi);
 
-            } else if (fabs(theta + M_PI_2) < 1.0e-3f) {
+                }
+
+                else if (fabs(theta + M_PI_2) < 1.0e-3f)
+                {
                     phi = 0.0f;
                     psi = atan2f(dcm[1][2] - dcm[0][1],
                                  dcm[0][2] + dcm[1][1] - phi);
 
-            } else {
+                }
+
+                else
+                {
                     phi = atan2f(dcm[2][1], dcm[2][2]);
                     psi = atan2f(dcm[1][0], dcm[0][0]);
                 }
@@ -422,6 +439,7 @@ void UAS::receiveMessage(mavlink_message_t message)
                 }
             }
             break;
+
         case MAVLINK_MSG_ID_HIL_CONTROLS:
             {
                 mavlink_hil_controls_t hil;
@@ -429,6 +447,7 @@ void UAS::receiveMessage(mavlink_message_t message)
                 emit hilControlsChanged(hil.time_usec, hil.roll_ailerons, hil.pitch_elevator, hil.yaw_rudder, hil.throttle, hil.mode, hil.nav_mode);
             }
             break;
+
         case MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS:
             {
                 mavlink_hil_actuator_controls_t hil;
@@ -453,6 +472,7 @@ void UAS::receiveMessage(mavlink_message_t message)
                                                 hil.mode);
             }
             break;
+
         case MAVLINK_MSG_ID_VFR_HUD:
             {
                 mavlink_vfr_hud_t hud;
@@ -469,13 +489,16 @@ void UAS::receiveMessage(mavlink_message_t message)
 
                 setAltitudeAMSL(hud.alt);
                 setGroundSpeed(hud.groundspeed);
+
                 if (!qIsNaN(hud.airspeed))
                     setAirSpeed(hud.airspeed);
+
                 speedZ = -hud.climb;
                 emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
                 emit speedChanged(this, groundSpeed, airSpeed, time);
             }
             break;
+
         case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
             //std::cerr << std::endl;
             //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
@@ -495,6 +518,7 @@ void UAS::receiveMessage(mavlink_message_t message)
                 }
             }
             break;
+
         case MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE:
             {
                 mavlink_global_vision_position_estimate_t pos;
@@ -503,6 +527,7 @@ void UAS::receiveMessage(mavlink_message_t message)
                 emit attitudeChanged(this, message.compid, pos.roll, pos.pitch, pos.yaw, time);
             }
             break;
+
         case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
             //std::cerr << std::endl;
             //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
@@ -533,6 +558,7 @@ void UAS::receiveMessage(mavlink_message_t message)
                 isGlobalPositionKnown = true;
             }
             break;
+
         case MAVLINK_MSG_ID_GPS_RAW_INT:
             {
                 mavlink_gps_raw_int_t pos;
@@ -542,10 +568,12 @@ void UAS::receiveMessage(mavlink_message_t message)
 
                 // TODO: track localization state not only for gps but also for other loc. sources
                 int loc_type = pos.fix_type;
+
                 if (loc_type == 1)
                 {
                     loc_type = 0;
                 }
+
                 setSatelliteCount(pos.satellites_visible);
 
                 if (pos.fix_type > 2)
@@ -557,18 +585,24 @@ void UAS::receiveMessage(mavlink_message_t message)
                     altitude_gps  = pos.alt / 1000.0;
 
                     // If no GLOBAL_POSITION_INT messages ever received, use these raw GPS values instead.
-                if (!globalEstimatorActive) {
+                    if (!globalEstimatorActive)
+                    {
                         setLatitude(latitude_gps);
                         setLongitude(longitude_gps);
                         emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), time);
                         emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
 
                         float vel = pos.vel / 100.0f;
+
                         // Smaller than threshold and not NaN
-                    if ((vel < 1000000) && !qIsNaN(vel) && !qIsInf(vel)) {
+                        if ((vel < 1000000) && !qIsNaN(vel) && !qIsInf(vel))
+                        {
                             setGroundSpeed(vel);
                             emit speedChanged(this, groundSpeed, airSpeed, time);
-                    } else {
+                        }
+
+                        else
+                        {
                             emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_NOTICE, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(vel));
                         }
                     }
@@ -577,18 +611,23 @@ void UAS::receiveMessage(mavlink_message_t message)
                 double dtmp;
                 //-- Raw GPS data
                 dtmp = pos.eph == 0xFFFF ? 1e10f : pos.eph / 100.0;
+
                 if (dtmp != satRawHDOP)
                 {
                     satRawHDOP = dtmp;
                     emit satRawHDOPChanged(satRawHDOP);
                 }
+
                 dtmp = pos.epv == 0xFFFF ? 1e10f : pos.epv / 100.0;
+
                 if (dtmp != satRawVDOP)
                 {
                     satRawVDOP = dtmp;
                     emit satRawVDOPChanged(satRawVDOP);
                 }
+
                 dtmp = pos.cog == 0xFFFF ? 0.0 : pos.cog / 100.0;
+
                 if (dtmp != satRawCOG)
                 {
                     satRawCOG = dtmp;
@@ -600,14 +639,17 @@ void UAS::receiveMessage(mavlink_message_t message)
                 emit localizationChanged(this, loc_type);
             }
             break;
+
         case MAVLINK_MSG_ID_GPS_STATUS:
             {
                 mavlink_gps_status_t pos;
                 mavlink_msg_gps_status_decode(&message, &pos);
+
                 for (int i = 0; i < (int)pos.satellites_visible; i++)
                 {
                     emit gpsSatelliteStatusChanged(uasId, (unsigned char)pos.satellite_prn[i], (unsigned char)pos.satellite_elevation[i], (unsigned char)pos.satellite_azimuth[i], (unsigned char)pos.satellite_snr[i], static_cast<bool>(pos.satellite_used[i]));
                 }
+
                 setSatelliteCount(pos.satellites_visible);
             }
             break;
@@ -627,6 +669,7 @@ void UAS::receiveMessage(mavlink_message_t message)
                 processParamValueMsg(message, parameterName, rawValue, paramVal);
             }
             break;
+
         case MAVLINK_MSG_ID_ATTITUDE_TARGET:
             {
                 mavlink_attitude_target_t out;
@@ -649,12 +692,14 @@ void UAS::receiveMessage(mavlink_message_t message)
                 {
                     break;
                 }
+
                 mavlink_position_target_local_ned_t p;
                 mavlink_msg_position_target_local_ned_decode(&message, &p);
                 quint64 time = getUnixTimeFromMs(p.time_boot_ms);
                 emit positionSetPointsChanged(uasId, p.x, p.y, p.z, 0/* XXX remove yaw and move it to attitude */, time);
             }
             break;
+
         case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
             {
                 mavlink_set_position_target_local_ned_t p;
@@ -662,6 +707,7 @@ void UAS::receiveMessage(mavlink_message_t message)
                 emit userPositionSetPointsChanged(uasId, p.x, p.y, p.z, 0/* XXX remove yaw and move it to attitude */);
             }
             break;
+
         case MAVLINK_MSG_ID_STATUSTEXT:
             {
                 QByteArray b;
@@ -681,6 +727,7 @@ void UAS::receiveMessage(mavlink_message_t message)
                     emit textMessageReceived(uasId, message.compid, severity, text);
                     _say(text.toLower(), severity);
                 }
+
                 else
                 {
                     emit textMessageReceived(uasId, message.compid, severity, text);
@@ -723,9 +770,11 @@ void UAS::receiveMessage(mavlink_message_t message)
 
                 for (int i = 0; i < imagePayload; ++i)
                 {
-                if (pos <= imageSize) {
+                    if (pos <= imageSize)
+                    {
                         imageRecBuffer[pos] = img.data[i];
                     }
+
                     ++pos;
                 }
 
@@ -777,7 +826,8 @@ void UAS::receiveMessage(mavlink_message_t message)
 
 void UAS::startCalibration(UASInterface::StartCalibrationType calType)
 {
-    if (!_vehicle) {
+    if (!_vehicle)
+    {
         return;
     }
 
@@ -788,34 +838,44 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
     int accelCal = 0;
     int escCal = 0;
 
-    switch (calType) {
+    switch (calType)
+    {
     case StartCalibrationGyro:
         gyroCal = 1;
         break;
+
     case StartCalibrationMag:
         magCal = 1;
         break;
+
     case StartCalibrationAirspeed:
         airspeedCal = 1;
         break;
+
     case StartCalibrationRadio:
         radioCal = 1;
         break;
+
     case StartCalibrationCopyTrims:
         radioCal = 2;
         break;
+
     case StartCalibrationAccel:
         accelCal = 1;
         break;
+
     case StartCalibrationLevel:
         accelCal = 2;
         break;
+
     case StartCalibrationEsc:
         escCal = 1;
         break;
+
     case StartCalibrationUavcanEsc:
         escCal = 2;
         break;
+
     case StartCalibrationCompassMot:
         airspeedCal = 1; // ArduPilot, bit of a hack
         break;
@@ -841,7 +901,8 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
 
 void UAS::stopCalibration(void)
 {
-    if (!_vehicle) {
+    if (!_vehicle)
+    {
         return;
     }
 
@@ -865,16 +926,19 @@ void UAS::stopCalibration(void)
 
 void UAS::startBusConfig(UASInterface::StartBusConfigType calType)
 {
-    if (!_vehicle) {
+    if (!_vehicle)
+    {
         return;
     }
 
     int actuatorCal = 0;
 
-    switch (calType) {
+    switch (calType)
+    {
     case StartBusConfigActuators:
         actuatorCal = 1;
         break;
+
     case EndBusConfigActuators:
         actuatorCal = 0;
         break;
@@ -900,7 +964,8 @@ void UAS::startBusConfig(UASInterface::StartBusConfigType calType)
 
 void UAS::stopBusConfig(void)
 {
-    if (!_vehicle) {
+    if (!_vehicle)
+    {
         return;
     }
 
@@ -936,6 +1001,7 @@ quint64 UAS::getUnixReferenceTime(quint64 time)
         //        qDebug() << "XNEW time:" <<QGC::groundTimeMilliseconds();
         return QGC::groundTimeMilliseconds();
     }
+
     // Check if time is smaller than 40 years,
     // assuming no system without Unix timestamp
     // runs longer than 40 years continuously without
@@ -953,6 +1019,7 @@ quint64 UAS::getUnixReferenceTime(quint64 time)
     // 1000 milliseconds
     // 1000 microseconds
 #ifndef _MSC_VER
+
     else if (time < 1261440000000000LLU)
 #else
     else if (time < 1261440000000000)
@@ -963,8 +1030,10 @@ quint64 UAS::getUnixReferenceTime(quint64 time)
         {
             onboardTimeOffset = QGC::groundTimeMilliseconds() - time / 1000;
         }
+
         return time / 1000 + onboardTimeOffset;
     }
+
     else
     {
         // Time is not zero and larger than 40 years -> has to be
@@ -999,6 +1068,7 @@ quint64 UAS::getUnixTimeFromMs(quint64 time)
 quint64 UAS::getUnixTime(quint64 time)
 {
     quint64 ret = 0;
+
     if (attitudeStamped)
     {
         ret = lastAttitude;
@@ -1008,6 +1078,7 @@ quint64 UAS::getUnixTime(quint64 time)
     {
         ret = QGC::groundTimeMilliseconds();
     }
+
     // Check if time is smaller than 40 years,
     // assuming no system without Unix timestamp
     // runs longer than 40 years continuously without
@@ -1025,6 +1096,7 @@ quint64 UAS::getUnixTime(quint64 time)
     // 1000 milliseconds
     // 1000 microseconds
 #ifndef _MSC_VER
+
     else if (time < 1261440000000000LLU)
 #else
     else if (time < 1261440000000000)
@@ -1036,10 +1108,12 @@ quint64 UAS::getUnixTime(quint64 time)
             lastNonNullTime = time;
             onboardTimeOffset = QGC::groundTimeMilliseconds() - time / 1000;
         }
+
         if (time > lastNonNullTime) lastNonNullTime = time;
 
         ret = time / 1000 + onboardTimeOffset;
     }
+
     else
     {
         // Time is not zero and larger than 40 years -> has to be
@@ -1063,30 +1137,37 @@ void UAS::getStatusForCode(int statusCode, QString& uasState, QString& stateDesc
         uasState = tr("UNINIT");
         stateDescription = tr("Unitialized, booting up.");
         break;
+
     case MAV_STATE_BOOT:
         uasState = tr("BOOT");
         stateDescription = tr("Booting system, please wait.");
         break;
+
     case MAV_STATE_CALIBRATING:
         uasState = tr("CALIBRATING");
         stateDescription = tr("Calibrating sensors, please wait.");
         break;
+
     case MAV_STATE_ACTIVE:
         uasState = tr("ACTIVE");
         stateDescription = tr("Active, normal operation.");
         break;
+
     case MAV_STATE_STANDBY:
         uasState = tr("STANDBY");
         stateDescription = tr("Standby mode, ready for launch.");
         break;
+
     case MAV_STATE_CRITICAL:
         uasState = tr("CRITICAL");
         stateDescription = tr("FAILURE: Continuing operation.");
         break;
+
     case MAV_STATE_EMERGENCY:
         uasState = tr("EMERGENCY");
         stateDescription = tr("EMERGENCY: Land Immediately!");
         break;
+
     //case MAV_STATE_HILSIM:
     //uasState = tr("HIL SIM");
     //stateDescription = tr("HIL Simulation, Sensors read from SIM");
@@ -1136,6 +1217,7 @@ QImage UAS::getImage()
         }
 
     }
+
     // BMP with header
     else if (imageType == MAVLINK_DATA_STREAM_IMG_BMP ||
              imageType == MAVLINK_DATA_STREAM_IMG_JPEG ||
@@ -1158,7 +1240,8 @@ QImage UAS::getImage()
 
 void UAS::requestImage()
 {
-    if (!_vehicle) {
+    if (!_vehicle)
+    {
         return;
     }
 
@@ -1187,6 +1270,7 @@ quint64 UAS::getUptime() const
     {
         return 0;
     }
+
     else
     {
         return QGC::groundTimeMilliseconds() - startTime;
@@ -1202,7 +1286,8 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
 
     // Insert with correct type
 
-    switch (rawValue.param_type) {
+    switch (rawValue.param_type)
+    {
     case MAV_PARAM_TYPE_REAL32:
         paramValue = QVariant(paramUnion.param_float);
         break;
@@ -1250,7 +1335,8 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
 
 void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component)
 {
-    if (!_vehicle) {
+    if (!_vehicle)
+    {
         return;
     }
 
@@ -1277,7 +1363,8 @@ void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float
 */
 void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode)
 {
-    if (!_vehicle) {
+    if (!_vehicle)
+    {
         return;
     }
 
@@ -1295,12 +1382,17 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
 
     // The default transmission rate is 25Hz, but when no inputs have changed it drops down to 5Hz.
     bool sendCommand = false;
-    if (countSinceLastTransmission++ >= 5) {
+
+    if (countSinceLastTransmission++ >= 5)
+    {
         sendCommand = true;
         countSinceLastTransmission = 0;
-    } else if ((!qIsNaN(roll) && roll != manualRollAngle) || (!qIsNaN(pitch) && pitch != manualPitchAngle) ||
+    }
+
+    else if ((!qIsNaN(roll) && roll != manualRollAngle) || (!qIsNaN(pitch) && pitch != manualPitchAngle) ||
              (!qIsNaN(yaw) && yaw != manualYawAngle) || (!qIsNaN(thrust) && thrust != manualThrust) ||
-             buttons != manualButtons) {
+             buttons != manualButtons)
+    {
         sendCommand = true;
 
         // Ensure that another message will be sent the next time this function is called
@@ -1308,7 +1400,8 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
     }
 
     // Now if we should trigger an update, let's do that
-    if (sendCommand) {
+    if (sendCommand)
+    {
         // Save the new manual control inputs
         manualRollAngle = roll;
         manualPitchAngle = pitch;
@@ -1318,7 +1411,8 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
 
         mavlink_message_t message;
 
-        if (joystickMode == Vehicle::JoystickModeAttitude) {
+        if (joystickMode == Vehicle::JoystickModeAttitude)
+        {
             // send an external attitude setpoint command (rate control disabled)
             float attitudeQuaternion[4];
             mavlink_euler_to_quaternion(roll, pitch, yaw, attitudeQuaternion);
@@ -1336,7 +1430,10 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
                                                  0,
                                                  thrust
                                                 );
-        } else if (joystickMode == Vehicle::JoystickModePosition) {
+        }
+
+        else if (joystickMode == Vehicle::JoystickModePosition)
+        {
             // Send the the local position setpoint (local pos sp external message)
             static float px = 0;
             static float py = 0;
@@ -1366,7 +1463,10 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
                     yaw,
                     0
                                                           );
-        } else if (joystickMode == Vehicle::JoystickModeForce) {
+        }
+
+        else if (joystickMode == Vehicle::JoystickModeForce)
+        {
             // Send the the force setpoint (local pos sp external message)
             float dcm[3][3];
             mavlink_euler_to_dcm(roll, pitch, yaw, dcm);
@@ -1394,7 +1494,10 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
                     0,
                     0
                                                           );
-        } else if (joystickMode == Vehicle::JoystickModeVelocity) {
+        }
+
+        else if (joystickMode == Vehicle::JoystickModeVelocity)
+        {
             // Send the the local velocity setpoint (local pos sp external message)
             static float vx = 0;
             static float vy = 0;
@@ -1426,7 +1529,10 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
                     0,
                     yawrate
                                                           );
-        } else if (joystickMode == Vehicle::JoystickModeRC) {
+        }
+
+        else if (joystickMode == Vehicle::JoystickModeRC)
+        {
 
             // Save the new manual control inputs
             manualRollAngle = roll;
@@ -1460,9 +1566,11 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
 #ifndef __mobile__
 void UAS::setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw)
 {
-    if (!_vehicle) {
+    if (!_vehicle)
+    {
         return;
     }
+
     const uint8_t base_mode = _vehicle->baseMode();
 
     // If system has manual inputs enabled and is armed
@@ -1491,6 +1599,7 @@ void UAS::setManual6DOFControlCommands(double x, double y, double z, double roll
 
         //emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, QGC::groundTimeMilliseconds());
     }
+
     else
     {
         qDebug() << "3DMOUSE/MANUAL CONTROL: IGNORING COMMANDS: Set mode to MANUAL to send 3DMouse commands first";
@@ -1503,7 +1612,8 @@ void UAS::setManual6DOFControlCommands(double x, double y, double z, double roll
 */
 void UAS::pairRX(int rxType, int rxSubType)
 {
-    if (!_vehicle) {
+    if (!_vehicle)
+    {
         return;
     }
 
@@ -1522,12 +1632,16 @@ void UAS::enableHilFlightGear(bool enable, QString options, bool sensorHil, QObj
     Q_UNUSED(configuration);
 
     QGCFlightGearLink *link = dynamic_cast<QGCFlightGearLink *>(simulation);
-    if (!link) {
+
+    if (!link)
+    {
         // Delete wrong sim
-        if (simulation) {
+        if (simulation)
+        {
             stopHil();
             delete simulation;
         }
+
         simulation = new QGCFlightGearLink(_vehicle, options);
     }
 
@@ -1550,12 +1664,14 @@ void UAS::enableHilFlightGear(bool enable, QString options, bool sensorHil, QObj
     link = dynamic_cast<QGCFlightGearLink *>(simulation);
     link->setStartupArguments(options);
     link->sensorHilEnabled(sensorHil);
+
     // FIXME: this signal is not on the base hil configuration widget, only on the FG widget
     //QObject::connect(configuration, SIGNAL(barometerOffsetChanged(float)), link, SLOT(setBarometerOffset(float)));
     if (enable)
     {
         startHil();
     }
+
     else
     {
         stopHil();
@@ -1570,21 +1686,28 @@ void UAS::enableHilFlightGear(bool enable, QString options, bool sensorHil, QObj
 void UAS::enableHilJSBSim(bool enable, QString options)
 {
     QGCJSBSimLink *link = dynamic_cast<QGCJSBSimLink *>(simulation);
-    if (!link) {
+
+    if (!link)
+    {
         // Delete wrong sim
-        if (simulation) {
+        if (simulation)
+        {
             stopHil();
             delete simulation;
         }
+
         simulation = new QGCJSBSimLink(_vehicle, options);
     }
+
     // Connect Flight Gear Link
     link = dynamic_cast<QGCJSBSimLink *>(simulation);
     link->setStartupArguments(options);
+
     if (enable)
     {
         startHil();
     }
+
     else
     {
         stopHil();
@@ -1599,11 +1722,15 @@ void UAS::enableHilJSBSim(bool enable, QString options)
 void UAS::enableHilXPlane(bool enable)
 {
     QGCXPlaneLink *link = dynamic_cast<QGCXPlaneLink *>(simulation);
-    if (!link) {
-        if (simulation) {
+
+    if (!link)
+    {
+        if (simulation)
+        {
             stopHil();
             delete simulation;
         }
+
         simulation = new QGCXPlaneLink(_vehicle);
 
         float noise_scaler = 0.0001f;
@@ -1621,11 +1748,13 @@ void UAS::enableHilXPlane(bool enable)
         pressure_alt_var = noise_scaler * 0.5604f;
         temperature_var = noise_scaler * 0.7290f;
     }
+
     // Connect X-Plane Link
     if (enable)
     {
         startHil();
     }
+
     else
     {
         stopHil();
@@ -1706,7 +1835,8 @@ void UAS::sendHilState(quint64 time_us, float roll, float pitch, float yaw, floa
                        float pitchspeed, float yawspeed, double lat, double lon, double alt,
                        float vx, float vy, float vz, float ind_airspeed, float true_airspeed, float xacc, float yacc, float zacc)
 {
-    if (!_vehicle) {
+    if (!_vehicle)
+    {
         return;
     }
 
@@ -1735,6 +1865,7 @@ void UAS::sendHilState(quint64 time_us, float roll, float pitch, float yaw, floa
                                               lat * 1e7f, lon * 1e7f, alt * 1000, vx * 100, vy * 100, vz * 100, ind_airspeed * 100, true_airspeed * 100, xacc * 1000 / 9.81, yacc * 1000 / 9.81, zacc * 1000 / 9.81);
         _vehicle->sendMessageOnPriorityLink(msg);
     }
+
     else
     {
         // Attempt to set HIL mode
@@ -1770,9 +1901,13 @@ float UAS::addZeroMeanNoise(float truth_meas, float noise_var)
     float noise = z0 * sqrt(noise_var); //calculate normally distributed variable with mu = 0, std = var^2
 
     //Finally guard against any case where the noise is not real
-    if(std::isfinite(noise)) {
+    if (std::isfinite(noise))
+    {
         return truth_meas + noise;
-    } else {
+    }
+
+    else
+    {
         return truth_meas;
     }
 }
@@ -1786,7 +1921,8 @@ float UAS::addZeroMeanNoise(float truth_meas, float noise_var)
 void UAS::sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, float rollspeed, float pitchspeed, float yawspeed,
                          float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, quint32 fields_changed)
 {
-    if (!_vehicle) {
+    if (!_vehicle)
+    {
         return;
     }
 
@@ -1814,6 +1950,7 @@ void UAS::sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, fl
         _vehicle->sendMessageOnPriorityLink(msg);
         lastSendTimeSensors = QGC::groundTimeMilliseconds();
     }
+
     else
     {
         // Attempt to set HIL mode
@@ -1827,7 +1964,8 @@ void UAS::sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, fl
 void UAS::sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, float flow_comp_m_x,
                              float flow_comp_m_y, quint8 quality, float ground_distance)
 {
-    if (!_vehicle) {
+    if (!_vehicle)
+    {
         return;
     }
 
@@ -1852,6 +1990,7 @@ void UAS::sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, floa
         lastSendTimeOpticalFlow = QGC::groundTimeMilliseconds();
 #endif
     }
+
     else
     {
         // Attempt to set HIL mode
@@ -1865,7 +2004,8 @@ void UAS::sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, floa
 #ifndef __mobile__
 void UAS::sendHilGps(quint64 time_us, double lat, double lon, double alt, int fix_type, float eph, float epv, float vel, float vn, float ve, float vd, float cog, int satellites)
 {
-    if (!_vehicle) {
+    if (!_vehicle)
+    {
         return;
     }
 
@@ -1876,9 +2016,11 @@ void UAS::sendHilGps(quint64 time_us, double lat, double lon, double alt, int fi
     if (_vehicle->hilMode())
     {
         float course = cog;
+
         // map to 0..2pi
         if (course < 0)
             course += 2.0f * static_cast<float>(M_PI);
+
         // scale from radians to degrees
         course = (course / M_PI) * 180.0f;
 
@@ -1888,6 +2030,7 @@ void UAS::sendHilGps(quint64 time_us, double lat, double lon, double alt, int fi
         lastSendTimeGPS = QGC::groundTimeMilliseconds();
         _vehicle->sendMessageOnPriorityLink(msg);
     }
+
     else
     {
         // Attempt to set HIL mode
@@ -1904,6 +2047,7 @@ void UAS::sendHilGps(quint64 time_us, double lat, double lon, double alt, int fi
 void UAS::startHil()
 {
     if (hilEnabled) return;
+
     hilEnabled = true;
     sensorHil = false;
     _vehicle->setHilMode(true);
@@ -1919,11 +2063,13 @@ void UAS::startHil()
 #ifndef __mobile__
 void UAS::stopHil()
 {
-   if (simulation && simulation->isConnected()) {
+    if (simulation && simulation->isConnected())
+    {
         simulation->disconnectSimulation();
         _vehicle->setHilMode(false);
         qDebug() << __FILE__ << __LINE__ << "HIL is onboard not enabled, trying to disable.";
     }
+
     hilEnabled = false;
     sensorHil = false;
 }
@@ -1939,13 +2085,15 @@ QMap<int, QString> UAS::getComponents()
 
 void UAS::sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax)
 {
-    if (!_vehicle) {
+    if (!_vehicle)
+    {
         return;
     }
 
     mavlink_message_t message;
 
     char param_id_cstr[MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = {};
+
     // Copy string into buffer, ensuring not to exceed the buffer size
     for (unsigned int i = 0; i < sizeof(param_id_cstr); i++)
     {
@@ -1973,13 +2121,15 @@ void UAS::sendMapRCToParam(QString param_id, float scale, float value0, quint8 p
 
 void UAS::unsetRCToParameterMap()
 {
-    if (!_vehicle) {
+    if (!_vehicle)
+    {
         return;
     }
 
     char param_id_cstr[MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = {};
 
-    for (int i = 0; i < 3; i++) {
+    for (int i = 0; i < 3; i++)
+    {
         mavlink_message_t message;
         mavlink_msg_param_map_rc_pack(mavlink->getSystemId(),
                                       mavlink->getComponentId(),
@@ -2007,12 +2157,15 @@ void UAS::shutdownVehicle(void)
 {
 #ifndef __mobile__
     stopHil();
-    if (simulation) {
+
+    if (simulation)
+    {
         // wait for the simulator to exit
         simulation->wait();
         simulation->disconnectSimulation();
         simulation->deleteLater();
     }
+
 #endif
     _vehicle = NULL;
 }

src/uas/UAS.h

@@ -290,55 +290,68 @@ public:
     }
 
     // Setters for HIL noise variance
-    void setXaccVar(float var){
+    void setXaccVar(float var)
+    {
         xacc_var = var;
     }
 
-    void setYaccVar(float var){
+    void setYaccVar(float var)
+    {
         yacc_var = var;
     }
 
-    void setZaccVar(float var){
+    void setZaccVar(float var)
+    {
         zacc_var = var;
     }
 
-    void setRollSpeedVar(float var){
+    void setRollSpeedVar(float var)
+    {
         rollspeed_var = var;
     }
 
-    void setPitchSpeedVar(float var){
+    void setPitchSpeedVar(float var)
+    {
         pitchspeed_var = var;
     }
 
-    void setYawSpeedVar(float var){
+    void setYawSpeedVar(float var)
+    {
         pitchspeed_var = var;
     }
 
-    void setXmagVar(float var){
+    void setXmagVar(float var)
+    {
         xmag_var = var;
     }
 
-    void setYmagVar(float var){
+    void setYmagVar(float var)
+    {
         ymag_var = var;
     }
 
-    void setZmagVar(float var){
+    void setZmagVar(float var)
+    {
         zmag_var = var;
     }
 
-    void setAbsPressureVar(float var){
+    void setAbsPressureVar(float var)
+    {
         abs_pressure_var = var;
     }
 
-    void setDiffPressureVar(float var){
+    void setDiffPressureVar(float var)
+    {
         diff_pressure_var = var;
     }
 
-    void setPressureAltVar(float var){
+    void setPressureAltVar(float var)
+    {
         pressure_alt_var = var;
     }
 
-    void setTemperatureVar(float var){
+    void setTemperatureVar(float var)
+    {
         temperature_var = var;
     }
 
@@ -463,7 +476,8 @@ public:
 
     /** @brief Get the HIL simulation */
 #ifndef __mobile__
-    QGCHilLink* getHILSimulation() const {
+    QGCHilLink *getHILSimulation() const
+    {
         return simulation;
     }
 #endif

src/ui/QGCHilXPlaneConfiguration.cc

@@ -58,17 +58,20 @@ void QGCHilXPlaneConfiguration::setVersion(int version)
 
 void QGCHilXPlaneConfiguration::toggleSimulation(bool connect)
 {
-    if (!link) {
+    if (!link)
+    {
         return;
     }
 
     Q_UNUSED(connect);
+
     if (!link->isConnected())
     {
         link->setRemoteHost(ui->hostComboBox->currentText());
         link->connectSimulation();
         ui->startButton->setText(tr("Disconnect"));
     }
+
     else
     {
         link->disconnectSimulation();