style(format): apply astyle to Windows SITL changes

Run `make format` (astyle 3.1) over the Windows SITL touchpoint to
satisfy CI `Gate Checks [check_format]`. The DEFINE_PARAMETERS_GROUPED
macro continuation alignment and blank-line-after-early-return rules
from astylerc were not applied during initial development; this commit
brings them in for the affected files plus the windows_shim headers
and Windows posix shim sources.

Signed-off-by: Nuno Marques <n.marques21@hotmail.com>

.github/workflows/compile_windows.yml

@@ -65,7 +65,14 @@ jobs:
               cmake ninja-build ccache \
               python3 python3-pip python3-jinja2 python3-yaml \
               python3-toml python3-numpy python3-packaging \
-              python3-jsonschema python3-future
+              python3-jsonschema python3-future \
+              python3-kconfiglib python3-pyros-genmsg
+          # PX4's msg/uxrce_dds/flight_tasks/zenoh generators rely on the
+          # empy 3.x Interpreter API; install via pip (with --break-system-
+          # packages on Ubuntu 24.04 where pip refuses to touch system
+          # site-packages by default).
+          python3 -m pip install --user --break-system-packages "empy>=3.3,<4" || \
+              python3 -m pip install --user "empy>=3.3,<4"
 
       - name: Setup ccache (MinGW)
         if: matrix.toolchain == 'MinGW'
@@ -98,6 +105,9 @@ jobs:
           # em.BUFFERED_OPT: True}) API removed in empy 4.x. Matches the pin
           # in Tools/setup/requirements.txt and Tools/setup/windows.ps1.
           python -m pip install jinja2 pyyaml toml numpy packaging jsonschema future "empy>=3.3,<4" pyros-genmsg kconfiglib
+          # Verify kconfiglib import on the same Python that CMake will pick
+          # so we fail loud here rather than deep in cmake configure.
+          python -c "import menuconfig; print(menuconfig.__file__)"
 
       - name: Install Ninja (MSVC)
         if: matrix.toolchain == 'MSVC'
@@ -119,9 +129,15 @@ jobs:
       # Makefile's existing Ninja branch picks the Ninja generator and
       # cmake auto-detects MSVC as the host compiler — same entry point
       # as Linux/macOS, no toolchain file needed.
+      #
+      # Pin Python3_ROOT_DIR to the setup-python interpreter so cmake's
+      # find_package(Python3) does not pick up the runner-image's other
+      # Python (3.12) where kconfiglib is not installed.
       - name: Native-build px4.exe (MSVC)
         if: matrix.toolchain == 'MSVC'
         shell: bash
+        env:
+          CMAKE_ARGS: -DPython3_ROOT_DIR=${{ env.pythonLocation }} -DPython3_FIND_STRATEGY=LOCATION
         run: make px4_sitl_default
 
       # ---- Common ----

.vscode/cmake-kits.json

@@ -2,4 +2,4 @@
   {
     "name": "PX4 detect"
   }
-]
+]

platforms/common/include/px4_platform_common/param.h

@@ -118,23 +118,23 @@ struct ParameterGroupInfo {
 
 #define DEFINE_PARAMETER_GROUP_IF_ENABLED(feature, name, availability, ...) \
 	PX4_PP_IF(PX4_PP_IS_ENABLED(feature))( \
-		DEFINE_PARAMETER_GROUP(name, availability, __VA_ARGS__), \
+					       DEFINE_PARAMETER_GROUP(name, availability, __VA_ARGS__), \
-		_DEFINE_PARAMETER_GROUP_DISABLED(name, availability))
+					       _DEFINE_PARAMETER_GROUP_DISABLED(name, availability))
 
 #define DEFINE_PARAMETER_GROUP_UNLESS_ENABLED(feature, name, availability, ...) \
 	PX4_PP_IF(PX4_PP_IS_ENABLED(feature))( \
-		_DEFINE_PARAMETER_GROUP_DISABLED(name, availability), \
+					       _DEFINE_PARAMETER_GROUP_DISABLED(name, availability), \
-		DEFINE_PARAMETER_GROUP(name, availability, __VA_ARGS__))
+					       DEFINE_PARAMETER_GROUP(name, availability, __VA_ARGS__))
 
 #define DEFINE_PARAMETER_GROUP_IF_ALL2(feature1, feature2, name, availability, ...) \
 	PX4_PP_IF(PX4_PP_AND2(PX4_PP_IS_ENABLED(feature1), PX4_PP_IS_ENABLED(feature2)))( \
-		DEFINE_PARAMETER_GROUP(name, availability, __VA_ARGS__), \
+			DEFINE_PARAMETER_GROUP(name, availability, __VA_ARGS__), \
-		_DEFINE_PARAMETER_GROUP_DISABLED(name, availability))
+			_DEFINE_PARAMETER_GROUP_DISABLED(name, availability))
 
 #define DEFINE_PARAMETER_GROUP_IF_ANY3(feature1, feature2, feature3, name, availability, ...) \
 	PX4_PP_IF(PX4_PP_OR3(PX4_PP_IS_ENABLED(feature1), PX4_PP_IS_ENABLED(feature2), PX4_PP_IS_ENABLED(feature3)))( \
-		DEFINE_PARAMETER_GROUP(name, availability, __VA_ARGS__), \
+			DEFINE_PARAMETER_GROUP(name, availability, __VA_ARGS__), \
-		_DEFINE_PARAMETER_GROUP_DISABLED(name, availability))
+			_DEFINE_PARAMETER_GROUP_DISABLED(name, availability))
 
 #define _DEFINE_PARAMETER_GROUP_DECLARATIONS(group) \
 	_DEFINE_PARAMETER_GROUP_DECLARATIONS_IMPL group

platforms/common/px4_log.cpp

@@ -137,6 +137,7 @@ static bool px4_terminal_likely_supports_ansi()
 	if (conemu_ansi && strcmp(conemu_ansi, "ON") == 0) {
 		return true;
 	}
+
 #endif
 
 	return false;
@@ -158,12 +159,14 @@ static bool px4_should_use_color_output(bool isatty_)
 	}
 
 #if defined(__PX4_WINDOWS)
+
 	// Under Wine, PX4's Windows build usually writes through Wine's console
 	// bridge to a host terminal. Keep POSIX's tty/TERM gating; the emit
 	// path below writes complete SGR buffers directly to the host fd.
 	if (px4_is_running_under_wine()) {
 		return use_color && px4_terminal_likely_supports_ansi();
 	}
+
 #endif
 
 	return use_color;
@@ -341,12 +344,14 @@ static bool px4_windows_stdout_supports_vt(FILE *out)
 	}
 
 #ifdef ENABLE_VIRTUAL_TERMINAL_PROCESSING
+
 	if ((mode & ENABLE_VIRTUAL_TERMINAL_PROCESSING) == 0) {
 		if (!SetConsoleMode(stdout_handle, mode | ENABLE_VIRTUAL_TERMINAL_PROCESSING)) {
 			cached_result = 0;
 			return false;
 		}
 	}
+
 #endif
 
 	cached_result = 1;
@@ -357,7 +362,7 @@ static bool px4_windows_stdout_supports_vt(FILE *out)
 static long long px4_linux_syscall3(long long num, long long a, long long b, long long c)
 {
 	long long ret;
-	__asm__ volatile (
+	__asm__ volatile(
 		"syscall"
 		: "=a"(ret)
 		: "0"(num), "D"(a), "S"(b), "d"(c)
@@ -370,6 +375,7 @@ static long long px4_linux_syscall3(long long num, long long a, long long b, lon
 static bool px4_wine_write_stdout_direct(const char *buffer, size_t length)
 {
 #if defined(__x86_64__) && defined(__GNUC__)
+
 	if (!px4_is_running_under_wine() || length == 0) {
 		return false;
 	}
@@ -628,10 +634,12 @@ __EXPORT void px4_log_modulename(int level, const char *module_name, const char
 		buf[max_length] = 0;
 
 #if defined(__PX4_WINDOWS) && defined(PX4_LOG_COLORIZED_OUTPUT)
+
 		if (!wrote_to_stdout && use_color && px4_is_running_under_wine()) {
 			fflush(out);
 			wrote_to_stdout = px4_wine_write_stdout_direct(buf, strlen(buf));
 		}
+
 #endif
 
 		if (!wrote_to_stdout) {
@@ -769,10 +777,12 @@ __EXPORT void px4_log_raw(int level, const char *fmt, ...)
 		buf[max_length] = 0;
 
 #if defined(__PX4_WINDOWS) && defined(PX4_LOG_COLORIZED_OUTPUT)
+
 		if (!wrote_to_stdout && use_color && px4_is_running_under_wine()) {
 			fflush(out);
 			wrote_to_stdout = px4_wine_write_stdout_direct(buf, strlen(buf));
 		}
+
 #endif
 
 		if (!wrote_to_stdout) {

platforms/common/px4_work_queue/WorkQueueManager.cpp

@@ -333,6 +333,7 @@ WorkQueueManagerRun(int, char **)
 			int effective_prio = sched_priority;
 
 			if (effective_prio > max_prio) { effective_prio = max_prio; }
+
 			if (effective_prio < min_prio) { effective_prio = min_prio; }
 
 			param.sched_priority = effective_prio;

platforms/common/work_queue/hrt_queue.c

@@ -133,6 +133,7 @@ int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t del
 		if (px4_sem_getvalue(&_hrt_work_signal, &sem_val) == 0 && sem_val <= 0) {
 			px4_sem_post(&_hrt_work_signal);
 		}
+
 #else
 		px4_task_kill(wqueue->pid, SIGCONT);      /* Wake up the worker thread */
 #endif

platforms/posix/include/windows_shim/dirent.h

@@ -111,11 +111,13 @@ static inline DIR *opendir(const char *name)
 	if (!name) { errno = EINVAL; return nullptr; }
 
 	DIR *d = (DIR *)calloc(1, sizeof(DIR));
+
 	if (!d) { errno = ENOMEM; return nullptr; }
 
 	/* Translate "foo" -> "foo\*" so FindFirstFile enumerates the
 	 * directory's contents rather than matching the directory itself. */
 	int n = snprintf(d->pattern, sizeof(d->pattern), "%s\\*", name);
+
 	if (n <= 0 || (size_t)n >= sizeof(d->pattern)) {
 		free(d);
 		errno = ENAMETOOLONG;
@@ -123,11 +125,13 @@ static inline DIR *opendir(const char *name)
 	}
 
 	d->handle = FindFirstFileA(d->pattern, &d->find_data);
+
 	if (d->handle == INVALID_HANDLE_VALUE) {
 		free(d);
 		errno = ENOENT;
 		return nullptr;
 	}
+
 	d->first = 1;
 	d->offset = 0;
 	return d;
@@ -145,6 +149,7 @@ static inline struct dirent *readdir(DIR *d)
 
 	if (d->first) {
 		d->first = 0;
+
 	} else if (!FindNextFileA(d->handle, &d->find_data)) {
 		return nullptr; /* end of directory */
 	}
@@ -157,8 +162,10 @@ static inline struct dirent *readdir(DIR *d)
 
 	if (d->find_data.dwFileAttributes & FILE_ATTRIBUTE_DIRECTORY) {
 		d->entry.d_type = DT_DIR;
+
 	} else if (d->find_data.dwFileAttributes & FILE_ATTRIBUTE_REPARSE_POINT) {
 		d->entry.d_type = DT_LNK;
+
 	} else {
 		d->entry.d_type = DT_REG;
 	}
@@ -170,9 +177,11 @@ static inline struct dirent *readdir(DIR *d)
 static inline int closedir(DIR *d)
 {
 	if (!d) { errno = EBADF; return -1; }
+
 	if (d->handle != INVALID_HANDLE_VALUE) {
 		FindClose(d->handle);
 	}
+
 	free(d);
 	return 0;
 }
@@ -181,9 +190,11 @@ static inline int closedir(DIR *d)
 static inline void rewinddir(DIR *d)
 {
 	if (!d) { return; }
+
 	if (d->handle != INVALID_HANDLE_VALUE) {
 		FindClose(d->handle);
 	}
+
 	d->handle = FindFirstFileA(d->pattern, &d->find_data);
 	d->first = (d->handle != INVALID_HANDLE_VALUE) ? 1 : 0;
 	d->offset = 0;

platforms/posix/include/windows_shim/fcntl.h

@@ -240,24 +240,27 @@ static inline int fcntl(int fd, int cmd, ...)
 		return 0;
 
 	case F_SETFL: {
-		va_list ap;
+			va_list ap;
-		va_start(ap, cmd);
+			va_start(ap, cmd);
-		int flags = va_arg(ap, int);
+			int flags = va_arg(ap, int);
-		va_end(ap);
+			va_end(ap);
 
-		if (flags & O_NONBLOCK) {
+			if (flags & O_NONBLOCK) {
-			/* Socket fds live in a separate namespace on winsock -
+				/* Socket fds live in a separate namespace on winsock -
-			 * ioctlsocket works on SOCKET handles, which the CRT
+				 * ioctlsocket works on SOCKET handles, which the CRT
-			 * stores directly in its int fds via _open_osfhandle. */
+				 * stores directly in its int fds via _open_osfhandle. */
-			u_long mode = 1;
+				u_long mode = 1;
-			if (ioctlsocket((SOCKET)fd, FIONBIO, &mode) == 0) {
+
-				return 0;
+				if (ioctlsocket((SOCKET)fd, FIONBIO, &mode) == 0) {
+					return 0;
+				}
+
+				errno = EBADF;
+				return -1;
 			}
-			errno = EBADF;
+
-			return -1;
+			return 0;
 		}
-		return 0;
-	}
 
 	case F_SETFD:
 		/* FD_CLOEXEC has no Win32 analog - close-on-exec is the
@@ -268,59 +271,69 @@ static inline int fcntl(int fd, int cmd, ...)
 	case F_GETLK:
 	case F_SETLK:
 	case F_SETLKW: {
-		va_list ap;
+			va_list ap;
-		va_start(ap, cmd);
+			va_start(ap, cmd);
-		struct flock *fl = va_arg(ap, struct flock *);
+			struct flock *fl = va_arg(ap, struct flock *);
-		va_end(ap);
+			va_end(ap);
-		if (!fl) { errno = EINVAL; return -1; }
 
-		HANDLE h = (HANDLE)_get_osfhandle(fd);
+			if (!fl) { errno = EINVAL; return -1; }
-		if (h == INVALID_HANDLE_VALUE) { errno = EBADF; return -1; }
 
-		/* l_len == 0 means "lock through EOF" in POSIX. Use the max
+			HANDLE h = (HANDLE)_get_osfhandle(fd);
-		 * range LockFileEx accepts (2^63-1) so the byte-range lock
+
-		 * effectively covers the whole file. */
+			if (h == INVALID_HANDLE_VALUE) { errno = EBADF; return -1; }
-		DWORD off_lo = (DWORD)fl->l_start;
+
-		DWORD off_hi = 0;
+			/* l_len == 0 means "lock through EOF" in POSIX. Use the max
-		DWORD len_lo = fl->l_len ? (DWORD)fl->l_len : 0xFFFFFFFFu;
+			 * range LockFileEx accepts (2^63-1) so the byte-range lock
-		DWORD len_hi = fl->l_len ? 0 : 0x7FFFFFFFu;
+			 * effectively covers the whole file. */
-		OVERLAPPED ov;
+			DWORD off_lo = (DWORD)fl->l_start;
-		memset(&ov, 0, sizeof(ov));
+			DWORD off_hi = 0;
-		ov.Offset = off_lo;
+			DWORD len_lo = fl->l_len ? (DWORD)fl->l_len : 0xFFFFFFFFu;
-		ov.OffsetHigh = off_hi;
+			DWORD len_hi = fl->l_len ? 0 : 0x7FFFFFFFu;
+			OVERLAPPED ov;
+			memset(&ov, 0, sizeof(ov));
+			ov.Offset = off_lo;
+			ov.OffsetHigh = off_hi;
+
+			if (cmd == F_GETLK) {
+				/* Try to acquire non-blocking; if it succeeds no conflict
+				 * exists, so release and report F_UNLCK. If it fails with
+				 * ERROR_LOCK_VIOLATION something else holds a lock. */
+				DWORD flags = LOCKFILE_EXCLUSIVE_LOCK | LOCKFILE_FAIL_IMMEDIATELY;
+
+				if (LockFileEx(h, flags, 0, len_lo, len_hi, &ov)) {
+					UnlockFileEx(h, 0, len_lo, len_hi, &ov);
+					fl->l_type = F_UNLCK;
+
+				} else if (GetLastError() == ERROR_LOCK_VIOLATION
+					   || GetLastError() == ERROR_IO_PENDING) {
+					fl->l_type = F_WRLCK;
+					fl->l_pid = 0;
+
+				} else {
+					errno = EACCES;
+					return -1;
+				}
+
+				return 0;
+			}
+
+			if (fl->l_type == F_UNLCK) {
+				if (UnlockFileEx(h, 0, len_lo, len_hi, &ov)) { return 0; }
 
-		if (cmd == F_GETLK) {
-			/* Try to acquire non-blocking; if it succeeds no conflict
-			 * exists, so release and report F_UNLCK. If it fails with
-			 * ERROR_LOCK_VIOLATION something else holds a lock. */
-			DWORD flags = LOCKFILE_EXCLUSIVE_LOCK | LOCKFILE_FAIL_IMMEDIATELY;
-			if (LockFileEx(h, flags, 0, len_lo, len_hi, &ov)) {
-				UnlockFileEx(h, 0, len_lo, len_hi, &ov);
-				fl->l_type = F_UNLCK;
-			} else if (GetLastError() == ERROR_LOCK_VIOLATION
-			           || GetLastError() == ERROR_IO_PENDING) {
-				fl->l_type = F_WRLCK;
-				fl->l_pid = 0;
-			} else {
 				errno = EACCES;
 				return -1;
 			}
-			return 0;
-		}
 
-		if (fl->l_type == F_UNLCK) {
+			DWORD flags = LOCKFILE_EXCLUSIVE_LOCK;
-			if (UnlockFileEx(h, 0, len_lo, len_hi, &ov)) { return 0; }
+
-			errno = EACCES;
+			if (cmd == F_SETLK) { flags |= LOCKFILE_FAIL_IMMEDIATELY; }
+
+			if (LockFileEx(h, flags, 0, len_lo, len_hi, &ov)) { return 0; }
+
+			errno = (GetLastError() == ERROR_LOCK_VIOLATION) ? EAGAIN : EACCES;
 			return -1;
 		}
 
-		DWORD flags = LOCKFILE_EXCLUSIVE_LOCK;
-		if (cmd == F_SETLK) { flags |= LOCKFILE_FAIL_IMMEDIATELY; }
-		if (LockFileEx(h, flags, 0, len_lo, len_hi, &ov)) { return 0; }
-		errno = (GetLastError() == ERROR_LOCK_VIOLATION) ? EAGAIN : EACCES;
-		return -1;
-	}
-
 	default:
 		errno = EINVAL;
 		return -1;

platforms/posix/include/windows_shim/poll.h

@@ -338,6 +338,7 @@ static inline int poll(struct pollfd *fds, nfds_t nfds, int timeout)
 	}
 
 	struct pollfd *socket_fds = (struct pollfd *)malloc(sizeof(struct pollfd) * nfds);
+
 	nfds_t *socket_indices = (nfds_t *)malloc(sizeof(nfds_t) * nfds);
 
 	if (socket_fds == nullptr || socket_indices == nullptr) {

platforms/posix/include/windows_shim/time.h

@@ -107,6 +107,7 @@ int nanosleep(const struct timespec *req, struct timespec *rem);
 static inline struct tm *gmtime_r(const time_t *timep, struct tm *result)
 {
 	if (!timep || !result) { return nullptr; }
+
 	return (gmtime_s(result, timep) == 0) ? result : nullptr;
 }
 
@@ -114,6 +115,7 @@ static inline struct tm *gmtime_r(const time_t *timep, struct tm *result)
 static inline struct tm *localtime_r(const time_t *timep, struct tm *result)
 {
 	if (!timep || !result) { return nullptr; }
+
 	return (localtime_s(result, timep) == 0) ? result : nullptr;
 }
 
@@ -121,6 +123,7 @@ static inline struct tm *localtime_r(const time_t *timep, struct tm *result)
 static inline char *asctime_r(const struct tm *tm, char *buf)
 {
 	if (!tm || !buf) { return nullptr; }
+
 	/* POSIX requires a 26-byte buffer; match that to asctime_s. */
 	return (asctime_s(buf, 26, tm) == 0) ? buf : nullptr;
 }
@@ -129,6 +132,7 @@ static inline char *asctime_r(const struct tm *tm, char *buf)
 static inline char *ctime_r(const time_t *timep, char *buf)
 {
 	if (!timep || !buf) { return nullptr; }
+
 	return (ctime_s(buf, 26, timep) == 0) ? buf : nullptr;
 }
 

platforms/posix/include/windows_shim/unistd.h

@@ -309,7 +309,9 @@ static inline int usleep(useconds_t usec)
 				const LONGLONG bulk_target_qpc = qpc_target
 								 - ((LONGLONG)tail_us * qpc_freq.QuadPart) / 1000000LL;
 				LONGLONG overshoot_qpc = wake_now.QuadPart - bulk_target_qpc;
+
 				if (overshoot_qpc < 0) { overshoot_qpc = 0; }
+
 				const long overshoot_us =
 					(long)((overshoot_qpc * 1000000LL) / qpc_freq.QuadPart);
 
@@ -495,8 +497,11 @@ static inline int vdprintf(int fd, const char *fmt, va_list ap)
 {
 	char buf[1024];
 	int n = vsnprintf(buf, sizeof(buf), fmt, ap);
+
 	if (n <= 0) { return n; }
+
 	if ((size_t)n >= sizeof(buf)) { n = (int)sizeof(buf) - 1; }
+
 	return (int)_write(fd, buf, (unsigned)n);
 }
 

platforms/posix/src/px4/common/lockstep_scheduler/include/lockstep_scheduler/lockstep_scheduler.h

@@ -113,9 +113,9 @@ private:
 		uint64_t time_us{0};
 		bool timeout{false};
 #if defined(__PX4_WINDOWS) || defined(_WIN32)
-		bool signaled{false};
+		bool signaled {false};
 #endif
-		std::atomic<bool> done{false};
+		std::atomic<bool> done {false};
 		std::atomic<bool> removed{true};
 
 		TimedWait *next{nullptr}; ///< linked list

platforms/posix/src/px4/common/lockstep_scheduler/src/lockstep_components.cpp

@@ -56,7 +56,8 @@ static uint64_t lockstep_component_wait_budget_us()
 	static const uint64_t wait_budget_us = []() -> uint64_t {
 		const char *speed_factor_env = getenv("PX4_SIM_SPEED_FACTOR");
 
-		if (speed_factor_env != nullptr) {
+		if (speed_factor_env != nullptr)
+		{
 			const double speed_factor = strtod(speed_factor_env, nullptr);
 
 			if (speed_factor > 0.) {
@@ -178,7 +179,10 @@ void LockstepComponents::wait_for_components()
 			sched_yield();
 		}
 	}
+
 #else
+
 	while (px4_sem_wait(&_components_sem) != 0) {}
+
 #endif
 }

platforms/posix/src/px4/common/lockstep_scheduler/src/lockstep_scheduler.cpp

@@ -81,7 +81,8 @@ LockstepScheduler::~LockstepScheduler()
 		std::lock_guard<std::mutex> guard(scheduler_registry_mutex());
 		auto &schedulers = scheduler_registry();
 
-		for (auto it = schedulers.begin(); it != schedulers.end(); ++it) {
+		for (auto it = schedulers.begin(); it != schedulers.end(); ++it)
+		{
 			if (*it == this) {
 				schedulers.erase(it);
 				break;
@@ -297,6 +298,7 @@ int LockstepScheduler::cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *loc
 			AcquireSRWLockExclusive(&timed_wait.wait_lock);
 			continue;
 		}
+
 		// Spurious wakeup: loop to re-check.
 	}
 
@@ -304,6 +306,7 @@ int LockstepScheduler::cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *loc
 
 	pthread_mutex_lock(lock);
 #else
+
 	while (!timed_wait.timeout) {
 		struct timespec poll_deadline;
 		clock_gettime(CLOCK_REALTIME, &poll_deadline);
@@ -334,9 +337,11 @@ int LockstepScheduler::cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *loc
 		if (result != 0) {
 			break;
 		}
+
 		// Spurious wakeup or real signal not reflected in `timeout`
 		// (shouldn't happen normally). Loop to re-check.
 	}
+
 #endif
 
 	const bool timeout = timed_wait.timeout;

platforms/posix/src/px4/common/main.cpp

@@ -588,6 +588,7 @@ int main(int argc, char **argv)
 
 				if (ret != PX4_OK) {
 #ifdef __PX4_WINDOWS
+
 					// See create_symlinks_if_needed(): symlink creation may require
 					// Developer Mode / admin on Windows. Treat EACCES/EPERM as
 					// non-fatal — tests that need test_data must use the absolute
@@ -665,6 +666,7 @@ int main(int argc, char **argv)
 		std::string cmd("shutdown");
 		px4_daemon::Pxh::process_line(cmd, true);
 #ifdef __PX4_WINDOWS
+
 		// The shutdown command runs asynchronously on the worker queue. While
 		// waiting for the worker to terminate the process, keep restoring and
 		// draining stdin so Enters typed during shutdown do not leak back into
@@ -726,6 +728,7 @@ int create_symlinks_if_needed(std::string &data_path)
 
 	if (ret != 0) {
 #ifdef __PX4_WINDOWS
+
 		// On Windows, creating symlinks requires admin rights, Developer Mode
 		// (Win10 1703+), or SE_CREATE_SYMBOLIC_LINK_PRIVILEGE. The windows_shim
 		// symlink() already falls back to hard links / recursive copy, but if
@@ -835,12 +838,15 @@ void sig_int_handler(int sig_num)
 		close(_lock_fd_for_signal);
 		_lock_fd_for_signal = -1;
 	}
+
 	if (_lock_path_for_signal[0]) {
 		unlink(_lock_path_for_signal);
 	}
+
 	if (_pid_path_for_signal[0]) {
 		unlink(_pid_path_for_signal);
 	}
+
 #endif
 	uorb_shutdown();
 	px4_daemon::Pxh::stop();
@@ -1164,6 +1170,7 @@ static bool is_absolute_path(const std::string &path)
 	if (path.length() >= 2 && is_path_separator(path[0]) && is_path_separator(path[1])) {
 		return true;
 	}
+
 #endif
 
 	return false;

platforms/posix/src/px4/common/px4_daemon/client.cpp

@@ -207,6 +207,7 @@ Client::process_args(const int argc, const char **argv)
 		PX4_ERR("error connecting to socket: %s", strerror(errno));
 		return -1;
 	}
+
 #endif
 
 	int ret = _send_cmds(argc, argv);
@@ -243,12 +244,14 @@ Client::_send_cmds(const int argc, const char **argv)
 		std::string arg = argv[i];
 
 #ifdef __PX4_WINDOWS
+
 		// Client executables are real .exe files on Windows, not POSIX
 		// symlinks. The pxh command namespace remains extensionless
 		// ("commander", "shutdown", ...), so strip only argv[0].
 		if (i == 0 && ends_with_exe_suffix(arg)) {
 			arg.resize(arg.size() - 4);
 		}
+
 #endif
 
 		cmd_buf += arg;

platforms/posix/src/px4/common/px4_daemon/pxh.cpp

@@ -574,6 +574,7 @@ void Pxh::run_pxh()
 			}
 		}
 	}
+
 #endif
 }
 

platforms/posix/src/px4/common/px4_daemon/server.cpp

@@ -103,6 +103,7 @@ static std::pair<int, int> create_relay_pipe()
 	int wfd = _open_osfhandle(reinterpret_cast<intptr_t>(w), 0);
 
 	if (rfd < 0 || wfd < 0) {
+
 		if (rfd >= 0) { ::close(rfd); } else { CloseHandle(r); }
 
 		if (wfd >= 0) { ::close(wfd); } else { CloseHandle(w); }
@@ -166,7 +167,8 @@ static void stdout_relay_loop(int stdout_read_fd, socket_handle_t client_fd)
 static void stdin_relay_loop(socket_handle_t client_fd, int stdin_write_fd, std::string prefill)
 {
 	auto write_all = [&](const char *buf, ssize_t n) -> bool {
-		while (n > 0) {
+		while (n > 0)
+		{
 			const int n_written = ::write(stdin_write_fd, buf, (unsigned)n);
 
 			if (n_written <= 0) {
@@ -312,6 +314,7 @@ Server::start()
 		PX4_ERR("error binding socket 127.0.0.1:%u, WSA error = %d", port, WSAGetLastError());
 		return -1;
 	}
+
 #else
 	std::string sock_path = get_socket_path(_instance_id);
 
@@ -333,6 +336,7 @@ Server::start()
 		PX4_ERR("error binding socket %s, error = %s", sock_path.c_str(), strerror(errno));
 		return -1;
 	}
+
 #endif
 
 	if (listen(_fd, 10) < 0) {
@@ -374,6 +378,7 @@ Server::_server_main()
 	}
 
 #ifdef __PX4_WINDOWS
+
 	while (true) {
 		pollfd listen_fd {poll_socket(_fd), POLLIN, 0};
 		int n_ready = poll(&listen_fd, 1, -1);

platforms/posix/src/px4/common/px4_sem.cpp

@@ -170,6 +170,7 @@ int px4_sem_timedwait(px4_sem_t *s, const struct timespec *abstime)
 	} else {
 		ret = 0;
 	}
+
 #else
 
 	if (s->value < 0) {

platforms/posix/src/px4/windows/posix/fs/flock.cpp

@@ -49,6 +49,7 @@
 extern "C" int flock(int fd, int operation)
 {
 	HANDLE h = (HANDLE)_get_osfhandle(fd);
+
 	if (h == INVALID_HANDLE_VALUE) { errno = EBADF; return -1; }
 
 	if (operation & LOCK_UN) {
@@ -58,10 +59,13 @@ extern "C" int flock(int fd, int operation)
 	}
 
 	DWORD flags = 0;
+
 	if (operation & LOCK_EX) { flags |= LOCKFILE_EXCLUSIVE_LOCK; }
+
 	if (operation & LOCK_NB) { flags |= LOCKFILE_FAIL_IMMEDIATELY; }
 
 	OVERLAPPED ov{}; ov.Offset = 0; ov.OffsetHigh = 0;
+
 	if (LockFileEx(h, flags, 0, MAXDWORD, MAXDWORD, &ov)) { return 0; }
 
 	errno = (GetLastError() == ERROR_LOCK_VIOLATION) ? EWOULDBLOCK : EIO;

platforms/posix/src/px4/windows/posix/fs/mman.cpp

@@ -50,8 +50,11 @@
 static DWORD mman_page_protect(int prot)
 {
 	if ((prot & (PROT_READ | PROT_WRITE)) == (PROT_READ | PROT_WRITE)) { return PAGE_READWRITE; }
+
 	if (prot & PROT_WRITE) { return PAGE_READWRITE; }
+
 	if (prot & PROT_READ)  { return PAGE_READONLY;  }
+
 	return PAGE_NOACCESS;
 }
 
@@ -66,12 +69,14 @@ extern "C" void *mmap(void *, size_t length, int prot, int flags, int fd, off_t
 	}
 
 	HANDLE h = (HANDLE)_get_osfhandle(fd);
+
 	if (h == INVALID_HANDLE_VALUE) { errno = EBADF; return MAP_FAILED; }
 
 	DWORD map_access = (prot & PROT_WRITE) ? FILE_MAP_WRITE : FILE_MAP_READ;
 	DWORD create_protect = (prot & PROT_WRITE) ? PAGE_READWRITE : PAGE_READONLY;
 
 	HANDLE mapping = CreateFileMappingA(h, nullptr, create_protect, 0, 0, nullptr);
+
 	if (!mapping) { errno = EACCES; return MAP_FAILED; }
 
 	/* The mapping handle can be closed after MapViewOfFile succeeds; the view
@@ -91,7 +96,9 @@ extern "C" int munmap(void *addr, size_t length)
 	 * VirtualFree for anonymous mappings. Both are idempotent enough
 	 * that trying the wrong one is harmless. */
 	if (UnmapViewOfFile(addr)) { return 0; }
+
 	if (VirtualFree(addr, 0, MEM_RELEASE)) { return 0; }
+
 	(void)length;
 	errno = EINVAL;
 	return -1;

platforms/posix/src/px4/windows/posix/lib/dlfcn.cpp

@@ -53,23 +53,29 @@ extern "C" void *dlopen(const char *filename, int /*flag*/)
 	/* POSIX allows dlopen(NULL, ...) to reference the main program. On Windows
 	 * the equivalent is the current process module. */
 	HMODULE h = filename ? LoadLibraryA(filename) : GetModuleHandleA(nullptr);
+
 	if (!h) { snprintf(_dl_last_error, sizeof(_dl_last_error), "LoadLibrary(%s) failed: 0x%lx", filename ? filename : "(self)", (unsigned long)GetLastError()); }
+
 	return (void *)h;
 }
 extern "C" int dlclose(void *handle)
 {
 	if (!handle) { return 0; }
+
 	return FreeLibrary((HMODULE)handle) ? 0 : -1;
 }
 extern "C" void *dlsym(void *handle, const char *symbol)
 {
 	FARPROC p = GetProcAddress(handle ? (HMODULE)handle : GetModuleHandleA(nullptr), symbol);
+
 	if (!p) { snprintf(_dl_last_error, sizeof(_dl_last_error), "GetProcAddress(%s) failed: 0x%lx", symbol, (unsigned long)GetLastError()); }
+
 	return (void *)p;
 }
 extern "C" char *dlerror(void)
 {
 	if (_dl_last_error[0] == 0) { return nullptr; }
+
 	static thread_local char out[sizeof(_dl_last_error)];
 	memcpy(out, _dl_last_error, sizeof(out));
 	_dl_last_error[0] = 0;

platforms/posix/src/px4/windows/posix/net/if_query.cpp

@@ -59,13 +59,16 @@
 extern "C" struct if_nameindex *if_nameindex(void)
 {
 	ULONG flags = GAA_FLAG_SKIP_ANYCAST | GAA_FLAG_SKIP_MULTICAST |
-	              GAA_FLAG_SKIP_DNS_SERVER;
+		      GAA_FLAG_SKIP_DNS_SERVER;
 	ULONG size  = 0;
 	GetAdaptersAddresses(AF_UNSPEC, flags, nullptr, nullptr, &size);
+
 	if (size == 0) { errno = ENODEV; return nullptr; }
 
 	IP_ADAPTER_ADDRESSES *adapters = (IP_ADAPTER_ADDRESSES *)malloc(size);
+
 	if (!adapters) { errno = ENOMEM; return nullptr; }
+
 	if (GetAdaptersAddresses(AF_UNSPEC, flags, nullptr, adapters, &size) != NO_ERROR) {
 		free(adapters);
 		errno = ENODEV;
@@ -73,12 +76,15 @@ extern "C" struct if_nameindex *if_nameindex(void)
 	}
 
 	unsigned int count = 0;
+
 	for (IP_ADAPTER_ADDRESSES *a = adapters; a; a = a->Next) { count++; }
 
 	struct if_nameindex *result = (struct if_nameindex *)calloc(count + 1, sizeof(*result));
+
 	if (!result) { free(adapters); errno = ENOMEM; return nullptr; }
 
 	unsigned int i = 0;
+
 	for (IP_ADAPTER_ADDRESSES *a = adapters; a; a = a->Next, i++) {
 		char name[IF_NAMESIZE] = {0};
 		/* FriendlyName is UTF-16. POSIX callers get an IF_NAMESIZE-bounded
@@ -92,12 +98,14 @@ extern "C" struct if_nameindex *if_nameindex(void)
 		 * and leak the remaining names; bail out instead so the caller sees ENOMEM. */
 		if (!result[i].if_name) {
 			for (unsigned int j = 0; j < i; j++) { free(result[j].if_name); }
+
 			free(result);
 			free(adapters);
 			errno = ENOMEM;
 			return nullptr;
 		}
 	}
+
 	free(adapters);
 	return result;
 }
@@ -105,8 +113,10 @@ extern "C" struct if_nameindex *if_nameindex(void)
 extern "C" void if_freenameindex(struct if_nameindex *ptr)
 {
 	if (!ptr) { return; }
+
 	for (struct if_nameindex *p = ptr; p->if_name; p++) {
 		free(p->if_name);
 	}
+
 	free(ptr);
 }

platforms/posix/src/px4/windows/posix/net/resolver.cpp

@@ -545,7 +545,9 @@ extern "C" struct in_addr inet_makeaddr(in_addr_t net, in_addr_t host)
 	}
 
 	struct in_addr out {};
+
 	out.s_addr = htonl(addr);
+
 	return out;
 }
 

platforms/posix/src/px4/windows/posix/net/socket.cpp

@@ -70,7 +70,7 @@ extern "C" ssize_t sendmsg(int fd, const struct msghdr *msg, int flags)
 	DWORD sent = 0;
 	const int rc = (msg->msg_name && msg->msg_namelen > 0)
 		       ? WSASendTo((SOCKET)fd, bufs.data(), (DWORD)bufs.size(), &sent, (DWORD)flags,
-				  (const sockaddr *)msg->msg_name, msg->msg_namelen, nullptr, nullptr)
+				   (const sockaddr *)msg->msg_name, msg->msg_namelen, nullptr, nullptr)
 		       : WSASend((SOCKET)fd, bufs.data(), (DWORD)bufs.size(), &sent, (DWORD)flags, nullptr, nullptr);
 
 	if (rc == SOCKET_ERROR) {
@@ -105,7 +105,7 @@ extern "C" ssize_t recvmsg(int fd, struct msghdr *msg, int flags)
 	int namelen = (int)msg->msg_namelen;
 	const int rc = (msg->msg_name && msg->msg_namelen > 0)
 		       ? WSARecvFrom((SOCKET)fd, bufs.data(), (DWORD)bufs.size(), &received, &recv_flags,
-				    (sockaddr *)msg->msg_name, &namelen, nullptr, nullptr)
+				     (sockaddr *)msg->msg_name, &namelen, nullptr, nullptr)
 		       : WSARecv((SOCKET)fd, bufs.data(), (DWORD)bufs.size(), &received, &recv_flags, nullptr, nullptr);
 
 	if (rc == SOCKET_ERROR) {

platforms/posix/src/px4/windows/posix/net/socket_msvc.cpp

@@ -59,156 +59,179 @@ static inline void set_wsa_errno()
 
 extern "C" {
 
-SOCKET WSAAPI px4_windows_socket(int af, int type, int protocol)
+	SOCKET WSAAPI px4_windows_socket(int af, int type, int protocol)
-{
+	{
-	const SOCKET s = socket(af, type, protocol);
+		const SOCKET s = socket(af, type, protocol);
 
-	if (s == INVALID_SOCKET) {
+		if (s == INVALID_SOCKET) {
-		set_wsa_errno();
+			set_wsa_errno();
+		}
+
+		return s;
 	}
 
-	return s;
+	int WSAAPI px4_windows_bind(SOCKET s, const struct sockaddr *name, int namelen)
-}
+	{
+		const int rc = bind(s, name, namelen);
 
-int WSAAPI px4_windows_bind(SOCKET s, const struct sockaddr *name, int namelen)
+		if (rc == SOCKET_ERROR) {
-{
+			set_wsa_errno();
-	const int rc = bind(s, name, namelen);
+		}
 
-	if (rc == SOCKET_ERROR) {
+		return rc;
-		set_wsa_errno();
 	}
 
-	return rc;
+	int WSAAPI px4_windows_listen(SOCKET s, int backlog)
-}
+	{
+		const int rc = listen(s, backlog);
 
-int WSAAPI px4_windows_listen(SOCKET s, int backlog)
+		if (rc == SOCKET_ERROR) {
-{
+			set_wsa_errno();
-	const int rc = listen(s, backlog);
+		}
 
-	if (rc == SOCKET_ERROR) {
+		return rc;
-		set_wsa_errno();
 	}
 
-	return rc;
+	SOCKET WSAAPI px4_windows_accept(SOCKET s, struct sockaddr *addr, int *addrlen)
-}
+	{
+		const SOCKET r = accept(s, addr, addrlen);
 
-SOCKET WSAAPI px4_windows_accept(SOCKET s, struct sockaddr *addr, int *addrlen)
+		if (r == INVALID_SOCKET) {
-{
+			set_wsa_errno();
-	const SOCKET r = accept(s, addr, addrlen);
+		}
 
-	if (r == INVALID_SOCKET) {
+		return r;
-		set_wsa_errno();
 	}
 
-	return r;
+	int WSAAPI px4_windows_connect(SOCKET s, const struct sockaddr *name, int namelen)
-}
+	{
+		const int rc = connect(s, name, namelen);
 
-int WSAAPI px4_windows_connect(SOCKET s, const struct sockaddr *name, int namelen)
+		if (rc == SOCKET_ERROR) {
-{
+			set_wsa_errno();
-	const int rc = connect(s, name, namelen);
+		}
 
-	if (rc == SOCKET_ERROR) {
+		return rc;
-		set_wsa_errno();
 	}
 
-	return rc;
+	int WSAAPI px4_windows_setsockopt(SOCKET s, int level, int optname, const char *optval, int optlen)
-}
+	{
+		const int rc = setsockopt(s, level, optname, optval, optlen);
 
-int WSAAPI px4_windows_setsockopt(SOCKET s, int level, int optname, const char *optval, int optlen)
+		if (rc == SOCKET_ERROR) {
-{
+			set_wsa_errno();
-	const int rc = setsockopt(s, level, optname, optval, optlen);
+		}
 
-	if (rc == SOCKET_ERROR) {
+		return rc;
-		set_wsa_errno();
 	}
 
-	return rc;
+	int WSAAPI px4_windows_shutdown(SOCKET s, int how)
-}
+	{
+		const int rc = shutdown(s, how);
 
-int WSAAPI px4_windows_shutdown(SOCKET s, int how)
+		if (rc == SOCKET_ERROR) {
-{
+			set_wsa_errno();
-	const int rc = shutdown(s, how);
+		}
 
-	if (rc == SOCKET_ERROR) {
+		return rc;
-		set_wsa_errno();
 	}
 
-	return rc;
+	int WSAAPI px4_windows_recv(SOCKET s, char *buf, int len, int flags)
-}
+	{
+		const int rc = recv(s, buf, len, flags);
 
-int WSAAPI px4_windows_recv(SOCKET s, char *buf, int len, int flags)
+		if (rc == SOCKET_ERROR) {
-{
+			set_wsa_errno();
-	const int rc = recv(s, buf, len, flags);
+		}
 
-	if (rc == SOCKET_ERROR) {
+		return rc;
-		set_wsa_errno();
 	}
 
-	return rc;
+	int WSAAPI px4_windows_send(SOCKET s, const char *buf, int len, int flags)
-}
+	{
+		const int rc = send(s, buf, len, flags);
 
-int WSAAPI px4_windows_send(SOCKET s, const char *buf, int len, int flags)
+		if (rc == SOCKET_ERROR) {
-{
+			set_wsa_errno();
-	const int rc = send(s, buf, len, flags);
+		}
 
-	if (rc == SOCKET_ERROR) {
+		return rc;
-		set_wsa_errno();
 	}
 
-	return rc;
+	int WSAAPI px4_windows_recvfrom(SOCKET s, char *buf, int len, int flags, struct sockaddr *from, int *fromlen)
-}
+	{
+		const int rc = recvfrom(s, buf, len, flags, from, fromlen);
 
-int WSAAPI px4_windows_recvfrom(SOCKET s, char *buf, int len, int flags, struct sockaddr *from, int *fromlen)
+		if (rc == SOCKET_ERROR) {
-{
+			set_wsa_errno();
-	const int rc = recvfrom(s, buf, len, flags, from, fromlen);
+		}
 
-	if (rc == SOCKET_ERROR) {
+		return rc;
-		set_wsa_errno();
 	}
 
-	return rc;
+	int WSAAPI px4_windows_sendto(SOCKET s, const char *buf, int len, int flags, const struct sockaddr *to, int tolen)
-}
+	{
+		const int rc = sendto(s, buf, len, flags, to, tolen);
 
-int WSAAPI px4_windows_sendto(SOCKET s, const char *buf, int len, int flags, const struct sockaddr *to, int tolen)
+		if (rc == SOCKET_ERROR) {
-{
+			set_wsa_errno();
-	const int rc = sendto(s, buf, len, flags, to, tolen);
+		}
 
-	if (rc == SOCKET_ERROR) {
+		return rc;
-		set_wsa_errno();
 	}
 
-	return rc;
+	char *px4_windows_strerror(int e)
-}
+	{
+		switch (e) {
+		case EADDRINUSE:      return const_cast<char *>("Address already in use");
 
-char *px4_windows_strerror(int e)
+		case EADDRNOTAVAIL:   return const_cast<char *>("Address not available");
-{
+
-	switch (e) {
+		case EAFNOSUPPORT:    return const_cast<char *>("Address family not supported");
-	case EADDRINUSE:      return const_cast<char *>("Address already in use");
+
-	case EADDRNOTAVAIL:   return const_cast<char *>("Address not available");
+		case ENOTSOCK:        return const_cast<char *>("Not a socket");
-	case EAFNOSUPPORT:    return const_cast<char *>("Address family not supported");
+
-	case ENOTSOCK:        return const_cast<char *>("Not a socket");
+		case EDESTADDRREQ:    return const_cast<char *>("Destination address required");
-	case EDESTADDRREQ:    return const_cast<char *>("Destination address required");
+
-	case EMSGSIZE:        return const_cast<char *>("Message too long");
+		case EMSGSIZE:        return const_cast<char *>("Message too long");
-	case EPROTOTYPE:      return const_cast<char *>("Protocol wrong type for socket");
+
-	case ENOPROTOOPT:     return const_cast<char *>("Protocol option not available");
+		case EPROTOTYPE:      return const_cast<char *>("Protocol wrong type for socket");
-	case EPROTONOSUPPORT: return const_cast<char *>("Protocol not supported");
+
-	case EOPNOTSUPP:      return const_cast<char *>("Operation not supported");
+		case ENOPROTOOPT:     return const_cast<char *>("Protocol option not available");
-	case ENETDOWN:        return const_cast<char *>("Network is down");
+
-	case ENETUNREACH:     return const_cast<char *>("Network unreachable");
+		case EPROTONOSUPPORT: return const_cast<char *>("Protocol not supported");
-	case ENETRESET:       return const_cast<char *>("Connection aborted by network");
+
-	case ECONNABORTED:    return const_cast<char *>("Connection aborted");
+		case EOPNOTSUPP:      return const_cast<char *>("Operation not supported");
-	case ECONNRESET:      return const_cast<char *>("Connection reset by peer");
+
-	case ENOBUFS:         return const_cast<char *>("No buffer space available");
+		case ENETDOWN:        return const_cast<char *>("Network is down");
-	case EISCONN:         return const_cast<char *>("Already connected");
+
-	case ENOTCONN:        return const_cast<char *>("Not connected");
+		case ENETUNREACH:     return const_cast<char *>("Network unreachable");
-	case ETIMEDOUT:       return const_cast<char *>("Connection timed out");
+
-	case ECONNREFUSED:    return const_cast<char *>("Connection refused");
+		case ENETRESET:       return const_cast<char *>("Connection aborted by network");
-	case EALREADY:        return const_cast<char *>("Operation already in progress");
+
-	case EINPROGRESS:     return const_cast<char *>("Operation in progress");
+		case ECONNABORTED:    return const_cast<char *>("Connection aborted");
-	case EWOULDBLOCK:     return const_cast<char *>("Resource temporarily unavailable");
+
-	default:              return strerror(e);
+		case ECONNRESET:      return const_cast<char *>("Connection reset by peer");
+
+		case ENOBUFS:         return const_cast<char *>("No buffer space available");
+
+		case EISCONN:         return const_cast<char *>("Already connected");
+
+		case ENOTCONN:        return const_cast<char *>("Not connected");
+
+		case ETIMEDOUT:       return const_cast<char *>("Connection timed out");
+
+		case ECONNREFUSED:    return const_cast<char *>("Connection refused");
+
+		case EALREADY:        return const_cast<char *>("Operation already in progress");
+
+		case EINPROGRESS:     return const_cast<char *>("Operation in progress");
+
+		case EWOULDBLOCK:     return const_cast<char *>("Resource temporarily unavailable");
+
+		default:              return strerror(e);
+		}
 	}
-}
 
 } // extern "C"
 

platforms/posix/src/px4/windows/posix/net/socket_wrap.cpp

@@ -213,28 +213,51 @@ extern "C" {
 	{
 		switch (e) {
 		case EADDRINUSE:      return const_cast<char *>("Address already in use");
+
 		case EADDRNOTAVAIL:   return const_cast<char *>("Address not available");
+
 		case EAFNOSUPPORT:    return const_cast<char *>("Address family not supported");
+
 		case ENOTSOCK:        return const_cast<char *>("Not a socket");
+
 		case EDESTADDRREQ:    return const_cast<char *>("Destination address required");
+
 		case EMSGSIZE:        return const_cast<char *>("Message too long");
+
 		case EPROTOTYPE:      return const_cast<char *>("Protocol wrong type for socket");
+
 		case ENOPROTOOPT:     return const_cast<char *>("Protocol option not available");
+
 		case EPROTONOSUPPORT: return const_cast<char *>("Protocol not supported");
+
 		case EOPNOTSUPP:      return const_cast<char *>("Operation not supported");
+
 		case ENETDOWN:        return const_cast<char *>("Network is down");
+
 		case ENETUNREACH:     return const_cast<char *>("Network unreachable");
+
 		case ENETRESET:       return const_cast<char *>("Connection aborted by network");
+
 		case ECONNABORTED:    return const_cast<char *>("Connection aborted");
+
 		case ECONNRESET:      return const_cast<char *>("Connection reset by peer");
+
 		case ENOBUFS:         return const_cast<char *>("No buffer space available");
+
 		case EISCONN:         return const_cast<char *>("Already connected");
+
 		case ENOTCONN:        return const_cast<char *>("Not connected");
+
 		case ETIMEDOUT:       return const_cast<char *>("Connection timed out");
+
 		case ECONNREFUSED:    return const_cast<char *>("Connection refused");
+
 		case EALREADY:        return const_cast<char *>("Operation already in progress");
+
 		case EINPROGRESS:     return const_cast<char *>("Operation in progress");
+
 		case EWOULDBLOCK:     return const_cast<char *>("Resource temporarily unavailable");
+
 		default:              return __real_strerror(e);
 		}
 	}

platforms/posix/src/px4/windows/posix/proc/user.cpp

@@ -108,6 +108,7 @@ static int align_buf(char **cursor, size_t *remaining, size_t alignment)
 static struct passwd *fill_passwd()
 {
 	DWORD n = sizeof(_pw_name);
+
 	if (!GetUserNameA(_pw_name, &n)) {
 		/* GetUserNameA failed; fall back to a stable placeholder. Use a bounded
 		 * copy rather than strcpy() so MSVC does not flag the deprecated CRT
@@ -115,8 +116,11 @@ static struct passwd *fill_passwd()
 		strncpy(_pw_name, "px4", sizeof(_pw_name) - 1);
 		_pw_name[sizeof(_pw_name) - 1] = '\0';
 	}
+
 	const char *home = getenv("USERPROFILE");
+
 	if (!home) { home = "C:\\"; }
+
 	strncpy(_pw_dir, home, sizeof(_pw_dir) - 1);
 	_pw_dir[sizeof(_pw_dir) - 1] = 0;
 
@@ -153,19 +157,31 @@ static int fill_passwd_r(struct passwd *pwd, char *buf, size_t buflen, struct pa
 	}
 
 	struct passwd *src = fill_passwd();
+
 	char *cursor = buf;
+
 	size_t remaining = buflen;
+
 	int rc = 0;
 
 	rc = append_buf_string(&cursor, &remaining, src->pw_name, &pwd->pw_name);
+
 	if (rc != 0) { *result = nullptr; return rc; }
+
 	rc = append_buf_string(&cursor, &remaining, src->pw_passwd, &pwd->pw_passwd);
+
 	if (rc != 0) { *result = nullptr; return rc; }
+
 	rc = append_buf_string(&cursor, &remaining, src->pw_gecos, &pwd->pw_gecos);
+
 	if (rc != 0) { *result = nullptr; return rc; }
+
 	rc = append_buf_string(&cursor, &remaining, src->pw_dir, &pwd->pw_dir);
+
 	if (rc != 0) { *result = nullptr; return rc; }
+
 	rc = append_buf_string(&cursor, &remaining, src->pw_shell, &pwd->pw_shell);
+
 	if (rc != 0) { *result = nullptr; return rc; }
 
 	pwd->pw_uid = src->pw_uid;
@@ -182,11 +198,15 @@ static int fill_group_r(struct group *grp, char *buf, size_t buflen, struct grou
 	}
 
 	struct group *src = fill_group();
+
 	char *cursor = buf;
+
 	size_t remaining = buflen;
+
 	int rc = 0;
 
 	rc = align_buf(&cursor, &remaining, alignof(char *));
+
 	if (rc != 0) { *result = nullptr; return rc; }
 
 	if (remaining < sizeof(char *) * 2) {
@@ -200,10 +220,15 @@ static int fill_group_r(struct group *grp, char *buf, size_t buflen, struct grou
 	remaining -= sizeof(char *) * 2;
 
 	rc = append_buf_string(&cursor, &remaining, src->gr_name, &grp->gr_name);
+
 	if (rc != 0) { *result = nullptr; return rc; }
+
 	rc = append_buf_string(&cursor, &remaining, src->gr_passwd, &grp->gr_passwd);
+
 	if (rc != 0) { *result = nullptr; return rc; }
+
 	rc = append_buf_string(&cursor, &remaining, src->gr_mem[0], &grp->gr_mem[0]);
+
 	if (rc != 0) { *result = nullptr; return rc; }
 
 	grp->gr_mem[1] = nullptr;

platforms/posix/src/px4/windows/posix/sys/errno_map.cpp

@@ -52,33 +52,44 @@ int px4_win_error_to_errno(DWORD err)
 	case ERROR_INVALID_DRIVE:
 	case ERROR_BAD_PATHNAME:
 		return ENOENT;
+
 	case ERROR_ACCESS_DENIED:
 	case ERROR_SHARING_VIOLATION:
 	case ERROR_LOCK_VIOLATION:
 		return EACCES;
+
 	case ERROR_ALREADY_EXISTS:
 	case ERROR_FILE_EXISTS:
 		return EEXIST;
+
 	case ERROR_INVALID_HANDLE:
 		return EBADF;
+
 	case ERROR_NOT_ENOUGH_MEMORY:
 	case ERROR_OUTOFMEMORY:
 		return ENOMEM;
+
 	case ERROR_DIRECTORY:
 	case ERROR_INVALID_NAME:
 	case ERROR_INVALID_PARAMETER:
 		return EINVAL;
+
 	case ERROR_DIR_NOT_EMPTY:
 		return ENOTEMPTY;
+
 	case ERROR_NOT_SUPPORTED:
 	case ERROR_CALL_NOT_IMPLEMENTED:
 		return ENOTSUP;
+
 	case ERROR_BUSY:
 		return EBUSY;
+
 	case ERROR_DISK_FULL:
 		return ENOSPC;
+
 	case ERROR_PROC_NOT_FOUND:
 		return ESRCH;
+
 	default:
 		/* EIO is the safest "something at the OS boundary failed" fallback. */
 		return EIO;
@@ -89,28 +100,51 @@ int px4_wsa_error_to_errno(int err)
 {
 	switch (err) {
 	case WSAEWOULDBLOCK: return EWOULDBLOCK;
+
 	case WSAEINPROGRESS: return EINPROGRESS;
+
 	case WSAEALREADY: return EALREADY;
+
 	case WSAENOTSOCK: return ENOTSOCK;
+
 	case WSAEDESTADDRREQ: return EDESTADDRREQ;
+
 	case WSAEMSGSIZE: return EMSGSIZE;
+
 	case WSAEPROTOTYPE: return EPROTOTYPE;
+
 	case WSAENOPROTOOPT: return ENOPROTOOPT;
+
 	case WSAEPROTONOSUPPORT: return EPROTONOSUPPORT;
+
 	case WSAEOPNOTSUPP: return EOPNOTSUPP;
+
 	case WSAEAFNOSUPPORT: return EAFNOSUPPORT;
+
 	case WSAEADDRINUSE: return EADDRINUSE;
+
 	case WSAEADDRNOTAVAIL: return EADDRNOTAVAIL;
+
 	case WSAENETDOWN: return ENETDOWN;
+
 	case WSAENETUNREACH: return ENETUNREACH;
+
 	case WSAENETRESET: return ENETRESET;
+
 	case WSAECONNABORTED: return ECONNABORTED;
+
 	case WSAECONNRESET: return ECONNRESET;
+
 	case WSAENOBUFS: return ENOBUFS;
+
 	case WSAEISCONN: return EISCONN;
+
 	case WSAENOTCONN: return ENOTCONN;
+
 	case WSAETIMEDOUT: return ETIMEDOUT;
+
 	case WSAECONNREFUSED: return ECONNREFUSED;
+
 	default: return EIO;
 	}
 }
@@ -119,9 +153,13 @@ const char *px4_hstrerror_text(int err)
 {
 	switch (err) {
 	case HOST_NOT_FOUND: return "Unknown host";
+
 	case TRY_AGAIN: return "Temporary failure in name resolution";
+
 	case NO_RECOVERY: return "Non-recoverable name server error";
+
 	case NO_DATA: return "No address associated with name";
+
 	default: return "Resolver error";
 	}
 }

platforms/posix/src/px4/windows/posix/sys/ioctl.cpp

@@ -61,9 +61,12 @@ extern "C" int ioctl(int fd, unsigned long request, ...)
 		/* Winsock uses ioctlsocket for the socket readiness/non-blocking calls
 		 * that POSIX code normally sends through ioctl(). */
 		int rc = ioctlsocket((SOCKET)fd, (long)request, &v);
+
 		if (rc == 0 && arg) { *(unsigned long *)arg = v; }
+
 		return rc == 0 ? 0 : -1;
 	}
+
 	errno = ENOSYS;
 	return -1;
 }

platforms/posix/src/px4/windows/posix/sys/sysconf.cpp

@@ -52,9 +52,11 @@
 extern "C" int statfs(const char *path, struct statfs *buf)
 {
 	if (!path || !buf) { errno = EINVAL; return -1; }
+
 	memset(buf, 0, sizeof(*buf));
 
 	ULARGE_INTEGER free_caller, total_bytes, free_total;
+
 	if (!GetDiskFreeSpaceExA(path, &free_caller, &total_bytes, &free_total)) {
 		errno = ENOENT;
 		return -1;
@@ -87,9 +89,11 @@ static BOOL copy_dir_recursive(const char *src, const char *dst)
 
 	WIN32_FIND_DATAA fd;
 	HANDLE h = FindFirstFileA(pattern, &fd);
+
 	if (h == INVALID_HANDLE_VALUE) { return TRUE; /* empty dir is fine */ }
 
 	BOOL ok = TRUE;
+
 	do {
 		if (strcmp(fd.cFileName, ".") == 0 || strcmp(fd.cFileName, "..") == 0) { continue; }
 
@@ -99,6 +103,7 @@ static BOOL copy_dir_recursive(const char *src, const char *dst)
 
 		if (fd.dwFileAttributes & FILE_ATTRIBUTE_DIRECTORY) {
 			if (!copy_dir_recursive(s, d)) { ok = FALSE; break; }
+
 		} else {
 			if (!CopyFileA(s, d, FALSE)) { ok = FALSE; break; }
 		}
@@ -119,12 +124,15 @@ extern "C" int symlink(const char *target, const char *linkpath)
 	const bool is_dir = (attrs != INVALID_FILE_ATTRIBUTES) && (attrs & FILE_ATTRIBUTE_DIRECTORY);
 
 	DWORD flags = 0;
+
 	if (is_dir) { flags |= 0x1; /* SYMBOLIC_LINK_FLAG_DIRECTORY */ }
+
 	/* Allow creating symlinks without admin rights when Developer Mode
 	 * is enabled (Win10 1703+). Harmless on older Windows. */
 	flags |= 0x2;     /* SYMBOLIC_LINK_FLAG_ALLOW_UNPRIVILEGED_CREATE */
 
 	BOOL sym_ok = CreateSymbolicLinkA(linkpath, target, flags);
+
 	/* Verify the link is actually accessible. Wine's CreateSymbolicLinkA
 	 * can report success and leave nothing behind. */
 	if (sym_ok && GetFileAttributesA(linkpath) != INVALID_FILE_ATTRIBUTES) {
@@ -137,7 +145,9 @@ extern "C" int symlink(const char *target, const char *linkpath)
 	if (is_dir) {
 		return copy_dir_recursive(target, linkpath) ? 0 : (errno = EPERM, -1);
 	}
+
 	if (CreateHardLinkA(linkpath, target, nullptr)) { return 0; }
+
 	if (CopyFileA(target, linkpath, FALSE))         { return 0; }
 
 	errno = EPERM;
@@ -244,47 +254,55 @@ extern "C" long sysconf(int name)
 	/* Numeric constants match the values declared in windows_shim/unistd.h.
 	 * Keep this switch synchronized with that header. */
 	switch (name) {
-	case 30: /* _SC_PAGESIZE */ {
+	case 30: { /* _SC_PAGESIZE */
-		SYSTEM_INFO si;
+			SYSTEM_INFO si;
-		GetSystemInfo(&si);
+			GetSystemInfo(&si);
-		return (long)si.dwPageSize;
+			return (long)si.dwPageSize;
-	}
+		}
+
 	case 2:  /* _SC_CLK_TCK: Win32 QueryPerformanceFrequency is Hz */
 		/* Use 100Hz, matching what Windows' multimedia timers resolve
 		 * to by default. Drivers that need higher resolution use
 		 * hrt_absolute_time() which goes through QPC directly. */
 		return 100;
-	case 84: /* _SC_NPROCESSORS_ONLN */ {
-		SYSTEM_INFO si;
-		GetSystemInfo(&si);
-		return (long)si.dwNumberOfProcessors;
-	}
-	case 83: /* _SC_NPROCESSORS_CONF */ {
-		SYSTEM_INFO si;
-		GetSystemInfo(&si);
-		return (long)si.dwNumberOfProcessors;
-	}
-	case 4: /* _SC_OPEN_MAX */
-		return (long)_getmaxstdio();
-	case 180: /* _SC_HOST_NAME_MAX */
-		return (long)(MAX_COMPUTERNAME_LENGTH + 1);
-	case 71: /* _SC_LOGIN_NAME_MAX */
-		return 256;
-	case 85: /* _SC_PHYS_PAGES */
-	case 86: { /* _SC_AVPHYS_PAGES */
-		MEMORYSTATUSEX mem {};
-		mem.dwLength = sizeof(mem);
 
-		if (!GlobalMemoryStatusEx(&mem)) {
+	case 84: { /* _SC_NPROCESSORS_ONLN */
-			errno = EIO;
+			SYSTEM_INFO si;
-			return -1;
+			GetSystemInfo(&si);
+			return (long)si.dwNumberOfProcessors;
 		}
 
-		const ULONGLONG page_size = (ULONGLONG)getpagesize();
+	case 83: { /* _SC_NPROCESSORS_CONF */
-		const ULONGLONG bytes = (name == 85) ? mem.ullTotalPhys : mem.ullAvailPhys;
+			SYSTEM_INFO si;
-		return (long)(bytes / page_size);
+			GetSystemInfo(&si);
-	}
+			return (long)si.dwNumberOfProcessors;
+		}
+
+	case 4: /* _SC_OPEN_MAX */
+		return (long)_getmaxstdio();
+
+	case 180: /* _SC_HOST_NAME_MAX */
+		return (long)(MAX_COMPUTERNAME_LENGTH + 1);
+
+	case 71: /* _SC_LOGIN_NAME_MAX */
+		return 256;
+
+	case 85: /* _SC_PHYS_PAGES */
+	case 86: { /* _SC_AVPHYS_PAGES */
+			MEMORYSTATUSEX mem {};
+			mem.dwLength = sizeof(mem);
+
+			if (!GlobalMemoryStatusEx(&mem)) {
+				errno = EIO;
+				return -1;
+			}
+
+			const ULONGLONG page_size = (ULONGLONG)getpagesize();
+			const ULONGLONG bytes = (name == 85) ? mem.ullTotalPhys : mem.ullAvailPhys;
+			return (long)(bytes / page_size);
+		}
 	}
+
 	errno = EINVAL;
 	return -1;
 }

platforms/posix/src/px4/windows/posix/sys/termios.cpp

@@ -55,6 +55,7 @@
 extern "C" int tcgetattr(int, struct termios *t)
 {
 	if (!t) { errno = EINVAL; return -1; }
+
 	memset(t, 0, sizeof(*t));
 	t->c_cflag = CS8 | CREAD | CLOCAL;
 	t->c_ispeed = t->c_ospeed = B115200;
@@ -74,6 +75,7 @@ extern "C" speed_t cfgetospeed(const struct termios *t)             { return t ?
 extern "C" void cfmakeraw(struct termios *t)
 {
 	if (!t) { return; }
+
 	/* Match the traditional POSIX cfmakeraw bit clearing so code inspecting the
 	 * termios struct sees the same shape it would on Linux. */
 	t->c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL | IXON);

platforms/posix/src/px4/windows/posix/sys/time.cpp

@@ -52,99 +52,100 @@ static constexpr uint64_t filetime_unix_epoch_100ns = 116444736000000000ULL;
 
 extern "C" {
 
-int clock_gettime(clockid_t clk_id, struct timespec *tp)
+	int clock_gettime(clockid_t clk_id, struct timespec *tp)
-{
+	{
-	if (!tp) {
+		if (!tp) {
+			errno = EINVAL;
+			return -1;
+		}
+
+		if (clk_id == CLOCK_MONOTONIC) {
+			/* QPC is monotonic and high resolution, but relative to an arbitrary
+			 * boot-time counter. That is exactly what CLOCK_MONOTONIC promises.
+			 *
+			 * Per Microsoft's QueryPerformanceCounter guidance, the QPC frequency
+			 * is fixed at system boot and consistent across processors, so we
+			 * only need to query it once. clock_gettime is on PX4's hot path
+			 * (drv_hrt's hrt_absolute_time, lockstep_scheduler, every uORB
+			 * publish/subscribe), and a syscall here adds up quickly.
+			 */
+			static const int64_t frequency = []() {
+				LARGE_INTEGER f {};
+				QueryPerformanceFrequency(&f);
+				return f.QuadPart;
+			}();
+
+			LARGE_INTEGER counter {};
+			QueryPerformanceCounter(&counter);
+
+			const uint64_t seconds = static_cast<uint64_t>(counter.QuadPart / frequency);
+			const uint64_t remainder = static_cast<uint64_t>(counter.QuadPart % frequency);
+			tp->tv_sec = static_cast<time_t>(seconds);
+			tp->tv_nsec = static_cast<long>((remainder * 1000000000ULL) / static_cast<uint64_t>(frequency));
+			return 0;
+		}
+
+		if (clk_id == CLOCK_REALTIME) {
+			/* FILETIME counts 100 ns ticks since 1601-01-01 UTC. Convert to the
+			 * Unix epoch expected by timespec. */
+			FILETIME ft {};
+			GetSystemTimePreciseAsFileTime(&ft);
+			const uint64_t ticks = (static_cast<uint64_t>(ft.dwHighDateTime) << 32) | ft.dwLowDateTime;
+			const uint64_t unix_100ns = ticks - filetime_unix_epoch_100ns;
+			tp->tv_sec = static_cast<time_t>(unix_100ns / 10000000ULL);
+			tp->tv_nsec = static_cast<long>((unix_100ns % 10000000ULL) * 100ULL);
+			return 0;
+		}
+
 		errno = EINVAL;
 		return -1;
 	}
 
-	if (clk_id == CLOCK_MONOTONIC) {
+	int clock_settime(clockid_t clk_id, const struct timespec *tp)
-		/* QPC is monotonic and high resolution, but relative to an arbitrary
+	{
-		 * boot-time counter. That is exactly what CLOCK_MONOTONIC promises.
+		(void)clk_id;
-		 *
+		(void)tp;
-		 * Per Microsoft's QueryPerformanceCounter guidance, the QPC frequency
+		errno = ENOTSUP;
-		 * is fixed at system boot and consistent across processors, so we
+		return -1;
-		 * only need to query it once. clock_gettime is on PX4's hot path
+	}
-		 * (drv_hrt's hrt_absolute_time, lockstep_scheduler, every uORB
-		 * publish/subscribe), and a syscall here adds up quickly.
-		 */
-		static const int64_t frequency = []() {
-			LARGE_INTEGER f {};
-			QueryPerformanceFrequency(&f);
-			return f.QuadPart;
-		}();
 
-		LARGE_INTEGER counter {};
+	int gettimeofday(struct timeval *tv, void *tz)
-		QueryPerformanceCounter(&counter);
+	{
+		(void)tz;
 
-		const uint64_t seconds = static_cast<uint64_t>(counter.QuadPart / frequency);
+		if (!tv) {
-		const uint64_t remainder = static_cast<uint64_t>(counter.QuadPart % frequency);
+			errno = EINVAL;
-		tp->tv_sec = static_cast<time_t>(seconds);
+			return -1;
-		tp->tv_nsec = static_cast<long>((remainder * 1000000000ULL) / static_cast<uint64_t>(frequency));
+		}
+
+		timespec ts {};
+
+		if (clock_gettime(CLOCK_REALTIME, &ts) != 0) {
+			return -1;
+		}
+
+		tv->tv_sec = static_cast<long>(ts.tv_sec);
+		tv->tv_usec = ts.tv_nsec / 1000;
 		return 0;
 	}
 
-	if (clk_id == CLOCK_REALTIME) {
+	int nanosleep(const struct timespec *req, struct timespec *rem)
-		/* FILETIME counts 100 ns ticks since 1601-01-01 UTC. Convert to the
+	{
-		 * Unix epoch expected by timespec. */
+		(void)rem;
-		FILETIME ft {};
+
-		GetSystemTimePreciseAsFileTime(&ft);
+		if (!req || req->tv_nsec < 0 || req->tv_nsec >= 1000000000L) {
-		const uint64_t ticks = (static_cast<uint64_t>(ft.dwHighDateTime) << 32) | ft.dwLowDateTime;
+			errno = EINVAL;
-		const uint64_t unix_100ns = ticks - filetime_unix_epoch_100ns;
+			return -1;
-		tp->tv_sec = static_cast<time_t>(unix_100ns / 10000000ULL);
+		}
-		tp->tv_nsec = static_cast<long>((unix_100ns % 10000000ULL) * 100ULL);
+
+		const uint64_t ms = (static_cast<uint64_t>(req->tv_sec) * 1000ULL) +
+				    ((static_cast<uint64_t>(req->tv_nsec) + 999999ULL) / 1000000ULL);
+		/* Sleep() is millisecond-granular and cannot report remaining time if it is
+		 * interrupted, so rem is intentionally unsupported for now. */
+		Sleep(ms > MAXDWORD ? MAXDWORD : static_cast<DWORD>(ms));
 		return 0;
 	}
 
-	errno = EINVAL;
-	return -1;
-}
-
-int clock_settime(clockid_t clk_id, const struct timespec *tp)
-{
-	(void)clk_id;
-	(void)tp;
-	errno = ENOTSUP;
-	return -1;
-}
-
-int gettimeofday(struct timeval *tv, void *tz)
-{
-	(void)tz;
-
-	if (!tv) {
-		errno = EINVAL;
-		return -1;
-	}
-
-	timespec ts {};
-	if (clock_gettime(CLOCK_REALTIME, &ts) != 0) {
-		return -1;
-	}
-
-	tv->tv_sec = static_cast<long>(ts.tv_sec);
-	tv->tv_usec = ts.tv_nsec / 1000;
-	return 0;
-}
-
-int nanosleep(const struct timespec *req, struct timespec *rem)
-{
-	(void)rem;
-
-	if (!req || req->tv_nsec < 0 || req->tv_nsec >= 1000000000L) {
-		errno = EINVAL;
-		return -1;
-	}
-
-	const uint64_t ms = (static_cast<uint64_t>(req->tv_sec) * 1000ULL) +
-			    ((static_cast<uint64_t>(req->tv_nsec) + 999999ULL) / 1000000ULL);
-	/* Sleep() is millisecond-granular and cannot report remaining time if it is
-	 * interrupted, so rem is intentionally unsupported for now. */
-	Sleep(ms > MAXDWORD ? MAXDWORD : static_cast<DWORD>(ms));
-	return 0;
-}
-
 } // extern "C"
 
 #endif // defined(_MSC_VER) && !defined(__clang__)

platforms/posix/src/px4/windows/runtime/init.cpp

@@ -242,16 +242,22 @@ static void px4_windows_calibrate_usleep_threshold()
 	// at 700 us (so quiet hosts still cover the typical Win10 1803+
 	// jitter floor) and capped at 2000 us (the historical safe value).
 	long sized_tail = p95 + 500;
+
 	if (sized_tail < 700) { sized_tail = 700; }
+
 	if (sized_tail > 2000) { sized_tail = 2000; }
+
 	g_usleep_spin_tail_us = sized_tail;
 	// Set the adaptive tail floor to the host-measured P95 jitter
 	// (clamped to [200, sized_tail]) so the per-thread controller in
 	// usleep() can never trim the spin below the value we already know
 	// is needed to cover this host's observed long-tail wakes.
 	long adaptive_floor = p95;
+
 	if (adaptive_floor < 200) { adaptive_floor = 200; }
+
 	if (adaptive_floor > sized_tail) { adaptive_floor = sized_tail; }
+
 	g_usleep_adaptive_min_tail_us = adaptive_floor;
 	std::printf("INFO  [px4_windows] usleep spin threshold (auto): %ld us "
 		    "(p95 high-res timer jitter: %ld us [N=%d], spin tail: %ld us, "
@@ -339,7 +345,7 @@ struct PX4WindowsGlobalInit {
 	{
 #if defined(__GNUC__) || defined(__clang__)
 		long long ret;
-		__asm__ volatile (
+		__asm__ volatile(
 			"syscall"
 			: "=a"(ret)
 			: "0"(num), "D"(a)
@@ -357,7 +363,7 @@ struct PX4WindowsGlobalInit {
 	{
 #if defined(__GNUC__) || defined(__clang__)
 		long long ret;
-		__asm__ volatile (
+		__asm__ volatile(
 			"syscall"
 			: "=a"(ret)
 			: "0"(num), "D"(a), "S"(b), "d"(c)
@@ -418,7 +424,7 @@ struct PX4WindowsGlobalInit {
 		term.c_oflag = LX_OPOST | LX_ONLCR;
 		term.c_cflag = (term.c_cflag & ~LX_CSIZE) | LX_CS8 | LX_CREAD;
 		term.c_lflag = LX_ISIG | LX_ICANON | LX_ECHO | LX_ECHOE | LX_ECHOK
-				| LX_ECHOCTL | LX_ECHOKE | LX_IEXTEN;
+			       | LX_ECHOCTL | LX_ECHOKE | LX_IEXTEN;
 
 		term.c_cc[0]  = 3;    // VINTR    Ctrl+C
 		term.c_cc[1]  = 28;   // VQUIT    Ctrl-backslash
@@ -469,7 +475,9 @@ struct PX4WindowsGlobalInit {
 	void restore_console_modes()
 	{
 		if (saved_stdin.valid)  { SetConsoleMode(saved_stdin.handle,  running_under_wine ? cooked_stdin_mode() : saved_stdin.mode); }
+
 		if (saved_stdout.valid) { SetConsoleMode(saved_stdout.handle, saved_stdout.mode); }
+
 		if (saved_stderr.valid) { SetConsoleMode(saved_stderr.handle, saved_stderr.mode); }
 
 		if (running_under_wine) {
@@ -482,9 +490,11 @@ struct PX4WindowsGlobalInit {
 	PX4WindowsGlobalInit()
 	{
 		WSADATA wsaData;
+
 		if (WSAStartup(MAKEWORD(2, 2), &wsaData) != 0) {
 			fprintf(stderr, "PX4: WSAStartup failed\n");
 		}
+
 		SetConsoleOutputCP(CP_UTF8);
 
 		// Raise the global timer resolution to 1 ms. The default
@@ -512,6 +522,7 @@ struct PX4WindowsGlobalInit {
 		// `__p__fmode()` accessor; setting it is equivalent to linking
 		// against binmode.o or compiling the whole image with -D_O_BINARY.
 		if (int *fmode_ptr = __p__fmode()) { *fmode_ptr = _O_BINARY; }
+
 		_setmode(_fileno(stdin),  _O_BINARY);
 		_setmode(_fileno(stdout), _O_BINARY);
 		_setmode(_fileno(stderr), _O_BINARY);
@@ -519,7 +530,7 @@ struct PX4WindowsGlobalInit {
 		if (running_under_wine) {
 			saved_host_tty_valid = tcget_host_tty(saved_host_tty);
 			saved_host_tty_was_cooked = saved_host_tty_valid
-						     && termios_is_interactive_cooked(saved_host_tty);
+						    && termios_is_interactive_cooked(saved_host_tty);
 		}
 
 		// Snapshot console modes so we can restore them on exit. Under
@@ -528,11 +539,15 @@ struct PX4WindowsGlobalInit {
 		// back, the shell that launched wine is left with broken
 		// arrows / Ctrl+C. On real Windows the restore is a no-op but
 		// keeps us honest.
-		auto snapshot = [](DWORD which, SavedConsoleMode &slot) {
+		auto snapshot = [](DWORD which, SavedConsoleMode & slot) {
 			HANDLE h = GetStdHandle(which);
+
 			if (h == INVALID_HANDLE_VALUE || h == nullptr) { return; }
+
 			DWORD mode = 0;
+
 			if (!GetConsoleMode(h, &mode)) { return; }
+
 			slot.handle = h;
 			slot.mode   = mode;
 			slot.valid  = true;
@@ -547,7 +562,7 @@ struct PX4WindowsGlobalInit {
 		// DISABLE_NEWLINE_AUTO_RETURN prevents the console from inserting an
 		// extra CR at column 80, which otherwise shows up as spurious line wraps.
 		const DWORD vt_flags = ENABLE_VIRTUAL_TERMINAL_PROCESSING
-				     | DISABLE_NEWLINE_AUTO_RETURN;
+				       | DISABLE_NEWLINE_AUTO_RETURN;
 
 		if (!running_under_wine) {
 			if (saved_stdout.valid) {

platforms/posix/src/px4/windows/shell/embedded_backend_stub.cpp

@@ -121,15 +121,15 @@ static bool looks_like_glob_or_pattern(const std::string &command)
 static std::string ltrim(std::string value)
 {
 	value.erase(value.begin(),
-		    std::find_if(value.begin(), value.end(), [](unsigned char ch) { return !std::isspace(ch); }));
+	std::find_if(value.begin(), value.end(), [](unsigned char ch) { return !std::isspace(ch); }));
 	return value;
 }
 
 static std::string rtrim(std::string value)
 {
 	value.erase(std::find_if(value.rbegin(), value.rend(),
-				 [](unsigned char ch) { return !std::isspace(ch); }).base(),
+	[](unsigned char ch) { return !std::isspace(ch); }).base(),
-		    value.end());
+	value.end());
 	return value;
 }
 
@@ -170,7 +170,7 @@ static bool is_identifier(const std::string &value)
 static bool is_digits(const std::string &value)
 {
 	return !value.empty() && std::all_of(value.begin(), value.end(),
-					     [](unsigned char ch) { return std::isdigit(ch); });
+	[](unsigned char ch) { return std::isdigit(ch); });
 }
 
 static std::vector<std::string> split_lines(const std::string &value)
@@ -428,8 +428,8 @@ private:
 
 		parts.push_back(trim(current));
 		parts.erase(std::remove_if(parts.begin(), parts.end(),
-					   [](const std::string &part) { return part.empty(); }),
+		[](const std::string & part) { return part.empty(); }),
-			    parts.end());
+		parts.end());
 		return parts;
 	}
 
@@ -929,8 +929,8 @@ private:
 
 		parts.emplace_back(pending_operator, trim(current));
 		parts.erase(std::remove_if(parts.begin(), parts.end(),
-					   [](const auto &entry) { return entry.second.empty(); }),
+		[](const auto & entry) { return entry.second.empty(); }),
-			    parts.end());
+		parts.end());
 		return parts;
 	}
 
@@ -998,8 +998,8 @@ private:
 
 		parts.push_back(trim(current));
 		parts.erase(std::remove_if(parts.begin(), parts.end(),
-					   [](const std::string &part) { return part.empty(); }),
+		[](const std::string & part) { return part.empty(); }),
-			    parts.end());
+		parts.end());
 		return parts;
 	}
 
@@ -1480,7 +1480,7 @@ private:
 		std::vector<std::string> lines = split_lines(stdin_data);
 		const bool version_sort = !args.empty() && args[0] == "-V";
 
-		auto comparator = [version_sort](const std::string &lhs, const std::string &rhs) {
+		auto comparator = [version_sort](const std::string & lhs, const std::string & rhs) {
 			if (!version_sort) {
 				return lhs < rhs;
 			}
@@ -1764,8 +1764,8 @@ private:
 		const bool print = pieces[2].find('p') != std::string::npos;
 		const std::string replacement = convert_sed_replacement(pieces[1]);
 		const std::string replaced = global ? std::regex_replace(line, re, replacement)
-						   : std::regex_replace(line, re, replacement,
+					     : std::regex_replace(line, re, replacement,
-									       std::regex_constants::format_first_only);
+							     std::regex_constants::format_first_only);
 
 		if (replaced != line) {
 			line = replaced;
@@ -1847,10 +1847,15 @@ private:
 			const long long rvalue = std::atoll(rhs.c_str());
 
 			if (op == "-eq") { return lvalue == rvalue; }
+
 			if (op == "-ne") { return lvalue != rvalue; }
+
 			if (op == "-gt") { return lvalue > rvalue; }
+
 			if (op == "-lt") { return lvalue < rvalue; }
+
 			if (op == "-ge") { return lvalue >= rvalue; }
+
 			if (op == "-le") { return lvalue <= rvalue; }
 		}
 
@@ -1873,7 +1878,7 @@ private:
 			}
 		};
 
-		auto append_unquoted = [&](const std::string &text) {
+		auto append_unquoted = [&](const std::string & text) {
 			for (char ch : text) {
 				if (std::isspace(static_cast<unsigned char>(ch))) {
 					flush();

platforms/ros2/include/px4_platform_common/param.h

@@ -109,23 +109,23 @@ struct ParameterGroupInfo {
 
 #define DEFINE_PARAMETER_GROUP_IF_ENABLED(feature, name, availability, ...) \
 	PX4_PP_IF(PX4_PP_IS_ENABLED(feature))( \
-		DEFINE_PARAMETER_GROUP(name, availability, __VA_ARGS__), \
+					       DEFINE_PARAMETER_GROUP(name, availability, __VA_ARGS__), \
-		_DEFINE_PARAMETER_GROUP_DISABLED(name, availability))
+					       _DEFINE_PARAMETER_GROUP_DISABLED(name, availability))
 
 #define DEFINE_PARAMETER_GROUP_UNLESS_ENABLED(feature, name, availability, ...) \
 	PX4_PP_IF(PX4_PP_IS_ENABLED(feature))( \
-		_DEFINE_PARAMETER_GROUP_DISABLED(name, availability), \
+					       _DEFINE_PARAMETER_GROUP_DISABLED(name, availability), \
-		DEFINE_PARAMETER_GROUP(name, availability, __VA_ARGS__))
+					       DEFINE_PARAMETER_GROUP(name, availability, __VA_ARGS__))
 
 #define DEFINE_PARAMETER_GROUP_IF_ALL2(feature1, feature2, name, availability, ...) \
 	PX4_PP_IF(PX4_PP_AND2(PX4_PP_IS_ENABLED(feature1), PX4_PP_IS_ENABLED(feature2)))( \
-		DEFINE_PARAMETER_GROUP(name, availability, __VA_ARGS__), \
+			DEFINE_PARAMETER_GROUP(name, availability, __VA_ARGS__), \
-		_DEFINE_PARAMETER_GROUP_DISABLED(name, availability))
+			_DEFINE_PARAMETER_GROUP_DISABLED(name, availability))
 
 #define DEFINE_PARAMETER_GROUP_IF_ANY3(feature1, feature2, feature3, name, availability, ...) \
 	PX4_PP_IF(PX4_PP_OR3(PX4_PP_IS_ENABLED(feature1), PX4_PP_IS_ENABLED(feature2), PX4_PP_IS_ENABLED(feature3)))( \
-		DEFINE_PARAMETER_GROUP(name, availability, __VA_ARGS__), \
+			DEFINE_PARAMETER_GROUP(name, availability, __VA_ARGS__), \
-		_DEFINE_PARAMETER_GROUP_DISABLED(name, availability))
+			_DEFINE_PARAMETER_GROUP_DISABLED(name, availability))
 
 #define _DEFINE_PARAMETER_GROUP_DECLARATIONS(group) \
 	_DEFINE_PARAMETER_GROUP_DECLARATIONS_IMPL group

src/examples/px4_mavlink_debug/px4_mavlink_debug.cpp

@@ -184,11 +184,11 @@ int px4_mavlink_debug_main(int argc, char *argv[])
 		// invoking client (`pxh`, `px4-px4_mavlink_debug.exe`, etc.)
 		// would appear to hang.
 		const px4_task_t task = px4_task_spawn_cmd("px4_mavlink_debug",
-				       SCHED_DEFAULT,
+					SCHED_DEFAULT,
-				       SCHED_PRIORITY_DEFAULT,
+					SCHED_PRIORITY_DEFAULT,
-				       2000,
+					2000,
-				       publisher_thread_main,
+					publisher_thread_main,
-				       (argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
+					(argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
 
 		if (task < 0) {
 			PX4_ERR("task spawn failed");

src/lib/dataman_client/DatamanClient.cpp

@@ -64,10 +64,17 @@ DatamanClient::DatamanClient()
 		_fds.fd = _dataman_response_sub;
 		_fds.events = POLLIN;
 
-#if !defined(ENABLE_LOCKSTEP_SCHEDULER)
+#if !(defined(ENABLE_LOCKSTEP_SCHEDULER) && defined(__PX4_WINDOWS))
+
+		// Acquire the client ID eagerly on POSIX (Linux/macOS) and
+		// non-lockstep builds. Only the Windows-lockstep build defers
+		// it, because hrt_absolute_time() is not yet advancing when
+		// the constructor runs there and the GET_ID round-trip would
+		// stall startup.
 		if (!updateClientId(1000_ms)) {
 			PX4_ERR("Failed to get client ID!");
 		}
+
 #endif
 	}
 }
@@ -101,6 +108,7 @@ bool DatamanClient::syncHandler(const dataman_request_s &request, dataman_respon
 
 	while (!response_received && (time_elapsed < timeout)) {
 #if defined(ENABLE_LOCKSTEP_SCHEDULER) && defined(__PX4_WINDOWS)
+
 		if (++iterations > max_iterations) {
 			break;
 		}
@@ -122,6 +130,7 @@ bool DatamanClient::syncHandler(const dataman_request_s &request, dataman_respon
 		if (ret > 0) {
 			orb_check(_dataman_response_sub, &updated);
 		}
+
 #endif
 
 		if (updated) {
@@ -156,10 +165,12 @@ bool DatamanClient::syncHandler(const dataman_request_s &request, dataman_respon
 
 		system_usleep(1000);
 #else
+
 		if (ret == 0) {
 			// No response received, send new request
 			_dataman_request_pub.publish(request);
 		}
+
 #endif
 
 #if defined(ENABLE_LOCKSTEP_SCHEDULER) && defined(__PX4_WINDOWS)

src/lib/parameters/param.h

@@ -473,7 +473,7 @@ __EXPORT void	param_control_autosave(bool enable);
  */
 union param_value_u {
 #if defined(__cplusplus)
-	constexpr param_value_u() : i{} {}
+	constexpr param_value_u() : i {} {}
 	constexpr explicit param_value_u(int32_t value) : i(value) {}
 	constexpr explicit param_value_u(float value) : f(value) {}
 #endif

src/modules/commander/Commander.cpp

@@ -204,6 +204,7 @@ static bool wait_for_vehicle_command_reply(const uint32_t cmd,
 
 		system_usleep(wait_interval_us);
 	}
+
 #else
 	hrt_abstime start = hrt_absolute_time();
 
@@ -216,6 +217,7 @@ static bool wait_for_vehicle_command_reply(const uint32_t cmd,
 
 		px4_usleep(10000);
 	}
+
 #endif
 
 	return false;

src/modules/ekf2/EKF2.hpp

@@ -522,264 +522,264 @@ private:
 
 	DEFINE_PARAMETERS_GROUPED(
 		DEFINE_PARAMETER_GROUP(core, PARAMETER_GROUP_ALWAYS,
-			(ParamBool<px4::params::EKF2_LOG_VERBOSE>) _param_ekf2_log_verbose,
+				       (ParamBool<px4::params::EKF2_LOG_VERBOSE>) _param_ekf2_log_verbose,
-			(ParamExtInt<px4::params::EKF2_PREDICT_US>) _param_ekf2_predict_us,
+				       (ParamExtInt<px4::params::EKF2_PREDICT_US>) _param_ekf2_predict_us,
-			(ParamExtFloat<px4::params::EKF2_DELAY_MAX>) _param_ekf2_delay_max,
+				       (ParamExtFloat<px4::params::EKF2_DELAY_MAX>) _param_ekf2_delay_max,
-			(ParamExtInt<px4::params::EKF2_IMU_CTRL>) _param_ekf2_imu_ctrl,
+				       (ParamExtInt<px4::params::EKF2_IMU_CTRL>) _param_ekf2_imu_ctrl,
-			(ParamExtFloat<px4::params::EKF2_VEL_LIM>) _param_ekf2_vel_lim,
+				       (ParamExtFloat<px4::params::EKF2_VEL_LIM>) _param_ekf2_vel_lim,
-			(ParamBool<px4::params::EKF2_POS_LOCK>) _param_ekf2_pos_lock,
+				       (ParamBool<px4::params::EKF2_POS_LOCK>) _param_ekf2_pos_lock,
-			(ParamExtInt<px4::params::EKF2_SENS_EN>) _param_ekf2_sens_en
+				       (ParamExtInt<px4::params::EKF2_SENS_EN>) _param_ekf2_sens_en
-		),
+				      ),
 
 		DEFINE_PARAMETER_GROUP_IF_ENABLED(CONFIG_EKF2_AUXVEL, auxiliary_velocity, PARAMETER_GROUP_FEATURE(CONFIG_EKF2_AUXVEL),
-			(ParamExtFloat<px4::params::EKF2_AVEL_DELAY>)
+				(ParamExtFloat<px4::params::EKF2_AVEL_DELAY>)
-			_param_ekf2_avel_delay	///< auxiliary velocity measurement delay relative to the IMU (mSec)
+				_param_ekf2_avel_delay	///< auxiliary velocity measurement delay relative to the IMU (mSec)
-		),
+						 ),
 
 		DEFINE_PARAMETER_GROUP(imu_noise, PARAMETER_GROUP_ALWAYS,
-			(ParamExtFloat<px4::params::EKF2_GYR_NOISE>)
+				       (ParamExtFloat<px4::params::EKF2_GYR_NOISE>)
-			_param_ekf2_gyr_noise,	///< IMU angular rate noise used for covariance prediction (rad/sec)
+				       _param_ekf2_gyr_noise,	///< IMU angular rate noise used for covariance prediction (rad/sec)
-			(ParamExtFloat<px4::params::EKF2_ACC_NOISE>)
+				       (ParamExtFloat<px4::params::EKF2_ACC_NOISE>)
-			_param_ekf2_acc_noise,	///< IMU acceleration noise use for covariance prediction (m/sec**2)
+				       _param_ekf2_acc_noise,	///< IMU acceleration noise use for covariance prediction (m/sec**2)
 
-			// process noise
+				       // process noise
-			(ParamExtFloat<px4::params::EKF2_GYR_B_NOISE>)
+				       (ParamExtFloat<px4::params::EKF2_GYR_B_NOISE>)
-			_param_ekf2_gyr_b_noise,	///< process noise for IMU rate gyro bias prediction (rad/sec**2)
+				       _param_ekf2_gyr_b_noise,	///< process noise for IMU rate gyro bias prediction (rad/sec**2)
-			(ParamExtFloat<px4::params::EKF2_ACC_B_NOISE>)
+				       (ParamExtFloat<px4::params::EKF2_ACC_B_NOISE>)
-			_param_ekf2_acc_b_noise///< process noise for IMU accelerometer bias prediction (m/sec**3)
+				       _param_ekf2_acc_b_noise///< process noise for IMU accelerometer bias prediction (m/sec**3)
-		),
+				      ),
 
 		DEFINE_PARAMETER_GROUP_IF_ENABLED(CONFIG_EKF2_WIND, wind, PARAMETER_GROUP_FEATURE(CONFIG_EKF2_WIND),
-			(ParamExtFloat<px4::params::EKF2_WIND_NSD>) _param_ekf2_wind_nsd
+				(ParamExtFloat<px4::params::EKF2_WIND_NSD>) _param_ekf2_wind_nsd
-		),
+						 ),
 
 		DEFINE_PARAMETER_GROUP(no_aid, PARAMETER_GROUP_ALWAYS,
-			(ParamExtFloat<px4::params::EKF2_NOAID_NOISE>) _param_ekf2_noaid_noise
+				       (ParamExtFloat<px4::params::EKF2_NOAID_NOISE>) _param_ekf2_noaid_noise
-		),
+				      ),
 
 		DEFINE_PARAMETER_GROUP_IF_ENABLED(CONFIG_EKF2_GNSS, gnss, PARAMETER_GROUP_FEATURE(CONFIG_EKF2_GNSS),
-			(ParamExtInt<px4::params::EKF2_GPS_CTRL>) _param_ekf2_gps_ctrl,
+				(ParamExtInt<px4::params::EKF2_GPS_CTRL>) _param_ekf2_gps_ctrl,
-			(ParamExtInt<px4::params::EKF2_GPS_MODE>) _param_ekf2_gps_mode,
+				(ParamExtInt<px4::params::EKF2_GPS_MODE>) _param_ekf2_gps_mode,
-			(ParamExtFloat<px4::params::EKF2_GPS_V_NOISE>) _param_ekf2_gps_v_noise,
+				(ParamExtFloat<px4::params::EKF2_GPS_V_NOISE>) _param_ekf2_gps_v_noise,
-			(ParamExtFloat<px4::params::EKF2_GPS_P_NOISE>) _param_ekf2_gps_p_noise,
+				(ParamExtFloat<px4::params::EKF2_GPS_P_NOISE>) _param_ekf2_gps_p_noise,
 
-			(ParamExtFloat<px4::params::EKF2_GPS_P_GATE>) _param_ekf2_gps_p_gate,
+				(ParamExtFloat<px4::params::EKF2_GPS_P_GATE>) _param_ekf2_gps_p_gate,
-			(ParamExtFloat<px4::params::EKF2_GPS_V_GATE>) _param_ekf2_gps_v_gate,
+				(ParamExtFloat<px4::params::EKF2_GPS_V_GATE>) _param_ekf2_gps_v_gate,
 
-			(ParamExtInt<px4::params::EKF2_GPS_CHECK>) _param_ekf2_gps_check,
+				(ParamExtInt<px4::params::EKF2_GPS_CHECK>) _param_ekf2_gps_check,
-			(ParamExtFloat<px4::params::EKF2_REQ_EPH>)    _param_ekf2_req_eph,
+				(ParamExtFloat<px4::params::EKF2_REQ_EPH>)    _param_ekf2_req_eph,
-			(ParamExtFloat<px4::params::EKF2_REQ_EPV>)    _param_ekf2_req_epv,
+				(ParamExtFloat<px4::params::EKF2_REQ_EPV>)    _param_ekf2_req_epv,
-			(ParamExtFloat<px4::params::EKF2_REQ_SACC>)   _param_ekf2_req_sacc,
+				(ParamExtFloat<px4::params::EKF2_REQ_SACC>)   _param_ekf2_req_sacc,
-			(ParamExtInt<px4::params::EKF2_REQ_NSATS>)    _param_ekf2_req_nsats,
+				(ParamExtInt<px4::params::EKF2_REQ_NSATS>)    _param_ekf2_req_nsats,
-			(ParamExtFloat<px4::params::EKF2_REQ_PDOP>)   _param_ekf2_req_pdop,
+				(ParamExtFloat<px4::params::EKF2_REQ_PDOP>)   _param_ekf2_req_pdop,
-			(ParamExtFloat<px4::params::EKF2_REQ_HDRIFT>) _param_ekf2_req_hdrift,
+				(ParamExtFloat<px4::params::EKF2_REQ_HDRIFT>) _param_ekf2_req_hdrift,
-			(ParamExtFloat<px4::params::EKF2_REQ_VDRIFT>) _param_ekf2_req_vdrift,
+				(ParamExtFloat<px4::params::EKF2_REQ_VDRIFT>) _param_ekf2_req_vdrift,
-			(ParamExtInt<px4::params::EKF2_REQ_FIX>)      _param_ekf2_req_fix,
+				(ParamExtInt<px4::params::EKF2_REQ_FIX>)      _param_ekf2_req_fix,
-			(ParamFloat<px4::params::EKF2_REQ_GPS_H>)     _param_ekf2_req_gps_h,
+				(ParamFloat<px4::params::EKF2_REQ_GPS_H>)     _param_ekf2_req_gps_h,
 
-			// Used by EKF-GSF experimental yaw estimator
+				// Used by EKF-GSF experimental yaw estimator
-			(ParamExtFloat<px4::params::EKF2_GSF_TAS>) _param_ekf2_gsf_tas,
+				(ParamExtFloat<px4::params::EKF2_GSF_TAS>) _param_ekf2_gsf_tas,
-			(ParamFloat<px4::params::EKF2_GPS_YAW_OFF>) _param_ekf2_gps_yaw_off
+				(ParamFloat<px4::params::EKF2_GPS_YAW_OFF>) _param_ekf2_gps_yaw_off
-		),
+						 ),
 
 		DEFINE_PARAMETER_GROUP_IF_ENABLED(CONFIG_EKF2_BAROMETER, barometer, PARAMETER_GROUP_FEATURE(CONFIG_EKF2_BAROMETER),
-			(ParamExtInt<px4::params::EKF2_BARO_CTRL>) _param_ekf2_baro_ctrl,
+				(ParamExtInt<px4::params::EKF2_BARO_CTRL>) _param_ekf2_baro_ctrl,
-			(ParamExtFloat<px4::params::EKF2_BARO_DELAY>) _param_ekf2_baro_delay,
+				(ParamExtFloat<px4::params::EKF2_BARO_DELAY>) _param_ekf2_baro_delay,
-			(ParamExtFloat<px4::params::EKF2_BARO_NOISE>) _param_ekf2_baro_noise,
+				(ParamExtFloat<px4::params::EKF2_BARO_NOISE>) _param_ekf2_baro_noise,
-			(ParamExtFloat<px4::params::EKF2_BARO_GATE>) _param_ekf2_baro_gate,
+				(ParamExtFloat<px4::params::EKF2_BARO_GATE>) _param_ekf2_baro_gate,
-			(ParamExtFloat<px4::params::EKF2_GND_EFF_DZ>) _param_ekf2_gnd_eff_dz,
+				(ParamExtFloat<px4::params::EKF2_GND_EFF_DZ>) _param_ekf2_gnd_eff_dz,
-			(ParamExtFloat<px4::params::EKF2_GND_MAX_HGT>) _param_ekf2_gnd_max_hgt
+				(ParamExtFloat<px4::params::EKF2_GND_MAX_HGT>) _param_ekf2_gnd_max_hgt
-		),
+						 ),
 
 		DEFINE_PARAMETER_GROUP_IF_ALL2(CONFIG_EKF2_BAROMETER, CONFIG_EKF2_BARO_COMPENSATION,
-			barometer_static_pressure_compensation,
+					       barometer_static_pressure_compensation,
-			PARAMETER_GROUP_CONDITION(defined(CONFIG_EKF2_BAROMETER) && defined(CONFIG_EKF2_BARO_COMPENSATION)),
+					       PARAMETER_GROUP_CONDITION(defined(CONFIG_EKF2_BAROMETER) &&defined(CONFIG_EKF2_BARO_COMPENSATION)),
-			// Corrections for static pressure position error where Ps_error = Ps_meas - Ps_truth
+					       // Corrections for static pressure position error where Ps_error = Ps_meas - Ps_truth
-			(ParamExtFloat<px4::params::EKF2_ASPD_MAX>) _param_ekf2_aspd_max,
+					       (ParamExtFloat<px4::params::EKF2_ASPD_MAX>) _param_ekf2_aspd_max,
-			(ParamExtFloat<px4::params::EKF2_PCOEF_XP>) _param_ekf2_pcoef_xp,
+					       (ParamExtFloat<px4::params::EKF2_PCOEF_XP>) _param_ekf2_pcoef_xp,
-			(ParamExtFloat<px4::params::EKF2_PCOEF_XN>) _param_ekf2_pcoef_xn,
+					       (ParamExtFloat<px4::params::EKF2_PCOEF_XN>) _param_ekf2_pcoef_xn,
-			(ParamExtFloat<px4::params::EKF2_PCOEF_YP>) _param_ekf2_pcoef_yp,
+					       (ParamExtFloat<px4::params::EKF2_PCOEF_YP>) _param_ekf2_pcoef_yp,
-			(ParamExtFloat<px4::params::EKF2_PCOEF_YN>) _param_ekf2_pcoef_yn,
+					       (ParamExtFloat<px4::params::EKF2_PCOEF_YN>) _param_ekf2_pcoef_yn,
-			(ParamExtFloat<px4::params::EKF2_PCOEF_Z>) _param_ekf2_pcoef_z
+					       (ParamExtFloat<px4::params::EKF2_PCOEF_Z>) _param_ekf2_pcoef_z
-		),
+					      ),
 
 		DEFINE_PARAMETER_GROUP_IF_ENABLED(CONFIG_EKF2_AIRSPEED, airspeed, PARAMETER_GROUP_FEATURE(CONFIG_EKF2_AIRSPEED),
-			(ParamExtFloat<px4::params::EKF2_ASP_DELAY>)
+				(ParamExtFloat<px4::params::EKF2_ASP_DELAY>)
-			_param_ekf2_asp_delay, ///< airspeed measurement delay relative to the IMU (mSec)
+				_param_ekf2_asp_delay, ///< airspeed measurement delay relative to the IMU (mSec)
-			(ParamExtFloat<px4::params::EKF2_TAS_GATE>)
+				(ParamExtFloat<px4::params::EKF2_TAS_GATE>)
-			_param_ekf2_tas_gate, ///< True Airspeed innovation consistency gate size (STD)
+				_param_ekf2_tas_gate, ///< True Airspeed innovation consistency gate size (STD)
-			(ParamExtFloat<px4::params::EKF2_EAS_NOISE>)
+				(ParamExtFloat<px4::params::EKF2_EAS_NOISE>)
-			_param_ekf2_eas_noise, ///< measurement noise used for airspeed fusion (m/sec)
+				_param_ekf2_eas_noise, ///< measurement noise used for airspeed fusion (m/sec)
 
-			// control of airspeed fusion
+				// control of airspeed fusion
-			(ParamExtFloat<px4::params::EKF2_ARSP_THR>)
+				(ParamExtFloat<px4::params::EKF2_ARSP_THR>)
-			_param_ekf2_arsp_thr ///< A value of zero will disabled airspeed fusion. Any positive value sets the minimum airspeed which will be used (m/sec)
+				_param_ekf2_arsp_thr ///< A value of zero will disabled airspeed fusion. Any positive value sets the minimum airspeed which will be used (m/sec)
-		),
+						 ),
 
 		DEFINE_PARAMETER_GROUP_IF_ENABLED(CONFIG_EKF2_SIDESLIP, sideslip, PARAMETER_GROUP_FEATURE(CONFIG_EKF2_SIDESLIP),
-			(ParamExtFloat<px4::params::EKF2_BETA_GATE>) _param_ekf2_beta_gate,
+				(ParamExtFloat<px4::params::EKF2_BETA_GATE>) _param_ekf2_beta_gate,
-			(ParamExtFloat<px4::params::EKF2_BETA_NOISE>) _param_ekf2_beta_noise,
+				(ParamExtFloat<px4::params::EKF2_BETA_NOISE>) _param_ekf2_beta_noise,
-			(ParamExtInt<px4::params::EKF2_FUSE_BETA>) _param_ekf2_fuse_beta
+				(ParamExtInt<px4::params::EKF2_FUSE_BETA>) _param_ekf2_fuse_beta
-		),
+						 ),
 
 		DEFINE_PARAMETER_GROUP_IF_ENABLED(CONFIG_EKF2_MAGNETOMETER, magnetometer, PARAMETER_GROUP_FEATURE(CONFIG_EKF2_MAGNETOMETER),
-			(ParamExtFloat<px4::params::EKF2_MAG_DELAY>) _param_ekf2_mag_delay,
+				(ParamExtFloat<px4::params::EKF2_MAG_DELAY>) _param_ekf2_mag_delay,
-			(ParamExtFloat<px4::params::EKF2_MAG_E_NOISE>) _param_ekf2_mag_e_noise,
+				(ParamExtFloat<px4::params::EKF2_MAG_E_NOISE>) _param_ekf2_mag_e_noise,
-			(ParamExtFloat<px4::params::EKF2_MAG_B_NOISE>) _param_ekf2_mag_b_noise,
+				(ParamExtFloat<px4::params::EKF2_MAG_B_NOISE>) _param_ekf2_mag_b_noise,
-			(ParamExtFloat<px4::params::EKF2_HEAD_NOISE>) _param_ekf2_head_noise,
+				(ParamExtFloat<px4::params::EKF2_HEAD_NOISE>) _param_ekf2_head_noise,
-			(ParamExtFloat<px4::params::EKF2_MAG_NOISE>) _param_ekf2_mag_noise,
+				(ParamExtFloat<px4::params::EKF2_MAG_NOISE>) _param_ekf2_mag_noise,
-			(ParamExtFloat<px4::params::EKF2_MAG_DECL>) _param_ekf2_mag_decl,
+				(ParamExtFloat<px4::params::EKF2_MAG_DECL>) _param_ekf2_mag_decl,
-			(ParamExtFloat<px4::params::EKF2_HDG_GATE>) _param_ekf2_hdg_gate,
+				(ParamExtFloat<px4::params::EKF2_HDG_GATE>) _param_ekf2_hdg_gate,
-			(ParamExtFloat<px4::params::EKF2_MAG_GATE>) _param_ekf2_mag_gate,
+				(ParamExtFloat<px4::params::EKF2_MAG_GATE>) _param_ekf2_mag_gate,
-			(ParamExtInt<px4::params::EKF2_DECL_TYPE>) _param_ekf2_decl_type,
+				(ParamExtInt<px4::params::EKF2_DECL_TYPE>) _param_ekf2_decl_type,
-			(ParamExtInt<px4::params::EKF2_MAG_TYPE>) _param_ekf2_mag_type,
+				(ParamExtInt<px4::params::EKF2_MAG_TYPE>) _param_ekf2_mag_type,
-			(ParamExtFloat<px4::params::EKF2_MAG_ACCLIM>) _param_ekf2_mag_acclim,
+				(ParamExtFloat<px4::params::EKF2_MAG_ACCLIM>) _param_ekf2_mag_acclim,
-			(ParamExtInt<px4::params::EKF2_MAG_CHECK>) _param_ekf2_mag_check,
+				(ParamExtInt<px4::params::EKF2_MAG_CHECK>) _param_ekf2_mag_check,
-			(ParamExtFloat<px4::params::EKF2_MAG_CHK_STR>) _param_ekf2_mag_chk_str,
+				(ParamExtFloat<px4::params::EKF2_MAG_CHK_STR>) _param_ekf2_mag_chk_str,
-			(ParamExtFloat<px4::params::EKF2_MAG_CHK_INC>) _param_ekf2_mag_chk_inc,
+				(ParamExtFloat<px4::params::EKF2_MAG_CHK_INC>) _param_ekf2_mag_chk_inc,
-			(ParamExtInt<px4::params::EKF2_SYNT_MAG_Z>) _param_ekf2_synt_mag_z
+				(ParamExtInt<px4::params::EKF2_SYNT_MAG_Z>) _param_ekf2_synt_mag_z
-		),
+						 ),
 
 		DEFINE_PARAMETER_GROUP(height_reference, PARAMETER_GROUP_ALWAYS,
-			(ParamExtInt<px4::params::EKF2_HGT_REF>) _param_ekf2_hgt_ref,    ///< selects the primary source for height data
+				       (ParamExtInt<px4::params::EKF2_HGT_REF>) _param_ekf2_hgt_ref,    ///< selects the primary source for height data
 
-			(ParamExtInt<px4::params::EKF2_NOAID_TOUT>)
+				       (ParamExtInt<px4::params::EKF2_NOAID_TOUT>)
-			_param_ekf2_noaid_tout	///< maximum lapsed time from last fusion of measurements that constrain drift before the EKF will report the horizontal nav solution invalid (uSec)
+				       _param_ekf2_noaid_tout	///< maximum lapsed time from last fusion of measurements that constrain drift before the EKF will report the horizontal nav solution invalid (uSec)
-		),
+				      ),
 
 		DEFINE_PARAMETER_GROUP_IF_ANY3(CONFIG_EKF2_TERRAIN, CONFIG_EKF2_OPTICAL_FLOW, CONFIG_EKF2_RANGE_FINDER,
-			minimum_range,
+					       minimum_range,
-			PARAMETER_GROUP_CONDITION(defined(CONFIG_EKF2_TERRAIN) || defined(CONFIG_EKF2_OPTICAL_FLOW) || defined(CONFIG_EKF2_RANGE_FINDER)),
+					       PARAMETER_GROUP_CONDITION(defined(CONFIG_EKF2_TERRAIN) || defined(CONFIG_EKF2_OPTICAL_FLOW) || defined(CONFIG_EKF2_RANGE_FINDER)),
-			(ParamExtFloat<px4::params::EKF2_MIN_RNG>) _param_ekf2_min_rng
+					       (ParamExtFloat<px4::params::EKF2_MIN_RNG>) _param_ekf2_min_rng
-		),
+					      ),
 
 		DEFINE_PARAMETER_GROUP_IF_ENABLED(CONFIG_EKF2_TERRAIN, terrain, PARAMETER_GROUP_FEATURE(CONFIG_EKF2_TERRAIN),
-			(ParamExtFloat<px4::params::EKF2_TERR_NOISE>) _param_ekf2_terr_noise,
+				(ParamExtFloat<px4::params::EKF2_TERR_NOISE>) _param_ekf2_terr_noise,
-			(ParamExtFloat<px4::params::EKF2_TERR_GRAD>) _param_ekf2_terr_grad
+				(ParamExtFloat<px4::params::EKF2_TERR_GRAD>) _param_ekf2_terr_grad
-		),
+						 ),
 
 		DEFINE_PARAMETER_GROUP_IF_ENABLED(CONFIG_EKF2_RANGE_FINDER, range_finder, PARAMETER_GROUP_FEATURE(CONFIG_EKF2_RANGE_FINDER),
-			// range finder fusion
+				// range finder fusion
-			(ParamExtInt<px4::params::EKF2_RNG_CTRL>) _param_ekf2_rng_ctrl,
+				(ParamExtInt<px4::params::EKF2_RNG_CTRL>) _param_ekf2_rng_ctrl,
-			(ParamExtFloat<px4::params::EKF2_RNG_DELAY>) _param_ekf2_rng_delay,
+				(ParamExtFloat<px4::params::EKF2_RNG_DELAY>) _param_ekf2_rng_delay,
-			(ParamExtFloat<px4::params::EKF2_RNG_NOISE>) _param_ekf2_rng_noise,
+				(ParamExtFloat<px4::params::EKF2_RNG_NOISE>) _param_ekf2_rng_noise,
-			(ParamExtFloat<px4::params::EKF2_RNG_SFE>) _param_ekf2_rng_sfe,
+				(ParamExtFloat<px4::params::EKF2_RNG_SFE>) _param_ekf2_rng_sfe,
-			(ParamExtFloat<px4::params::EKF2_RNG_GATE>) _param_ekf2_rng_gate,
+				(ParamExtFloat<px4::params::EKF2_RNG_GATE>) _param_ekf2_rng_gate,
-			(ParamExtFloat<px4::params::EKF2_RNG_PITCH>) _param_ekf2_rng_pitch,
+				(ParamExtFloat<px4::params::EKF2_RNG_PITCH>) _param_ekf2_rng_pitch,
-			(ParamExtFloat<px4::params::EKF2_RNG_A_VMAX>) _param_ekf2_rng_a_vmax,
+				(ParamExtFloat<px4::params::EKF2_RNG_A_VMAX>) _param_ekf2_rng_a_vmax,
-			(ParamExtFloat<px4::params::EKF2_RNG_A_HMAX>) _param_ekf2_rng_a_hmax,
+				(ParamExtFloat<px4::params::EKF2_RNG_A_HMAX>) _param_ekf2_rng_a_hmax,
-			(ParamExtFloat<px4::params::EKF2_RNG_QLTY_T>) _param_ekf2_rng_qlty_t,
+				(ParamExtFloat<px4::params::EKF2_RNG_QLTY_T>) _param_ekf2_rng_qlty_t,
-			(ParamExtFloat<px4::params::EKF2_RNG_K_GATE>) _param_ekf2_rng_k_gate,
+				(ParamExtFloat<px4::params::EKF2_RNG_K_GATE>) _param_ekf2_rng_k_gate,
-			(ParamExtFloat<px4::params::EKF2_RNG_FOG>) _param_ekf2_rng_fog,
+				(ParamExtFloat<px4::params::EKF2_RNG_FOG>) _param_ekf2_rng_fog,
-			(ParamExtFloat<px4::params::EKF2_RNG_POS_X>) _param_ekf2_rng_pos_x,
+				(ParamExtFloat<px4::params::EKF2_RNG_POS_X>) _param_ekf2_rng_pos_x,
-			(ParamExtFloat<px4::params::EKF2_RNG_POS_Y>) _param_ekf2_rng_pos_y,
+				(ParamExtFloat<px4::params::EKF2_RNG_POS_Y>) _param_ekf2_rng_pos_y,
-			(ParamExtFloat<px4::params::EKF2_RNG_POS_Z>) _param_ekf2_rng_pos_z
+				(ParamExtFloat<px4::params::EKF2_RNG_POS_Z>) _param_ekf2_rng_pos_z
-		),
+						 ),
 
 		DEFINE_PARAMETER_GROUP_IF_ENABLED(CONFIG_EKF2_RANGING_BEACON, ranging_beacon, PARAMETER_GROUP_FEATURE(CONFIG_EKF2_RANGING_BEACON),
-			// ranging beacon fusion
+				// ranging beacon fusion
-			(ParamExtInt<px4::params::EKF2_RNGBC_CTRL>) _param_ekf2_rngbc_ctrl,
+				(ParamExtInt<px4::params::EKF2_RNGBC_CTRL>) _param_ekf2_rngbc_ctrl,
-			(ParamExtFloat<px4::params::EKF2_RNGBC_DELAY>) _param_ekf2_rngbc_delay,
+				(ParamExtFloat<px4::params::EKF2_RNGBC_DELAY>) _param_ekf2_rngbc_delay,
-			(ParamExtFloat<px4::params::EKF2_RNGBC_NOISE>) _param_ekf2_rngbc_noise,
+				(ParamExtFloat<px4::params::EKF2_RNGBC_NOISE>) _param_ekf2_rngbc_noise,
-			(ParamExtFloat<px4::params::EKF2_RNGBC_GATE>) _param_ekf2_rngbc_gate
+				(ParamExtFloat<px4::params::EKF2_RNGBC_GATE>) _param_ekf2_rngbc_gate
-		),
+						 ),
 
 		DEFINE_PARAMETER_GROUP_IF_ENABLED(CONFIG_EKF2_EXTERNAL_VISION, external_vision, PARAMETER_GROUP_FEATURE(CONFIG_EKF2_EXTERNAL_VISION),
-			// vision estimate fusion
+				// vision estimate fusion
-			(ParamExtFloat<px4::params::EKF2_EV_DELAY>)
+				(ParamExtFloat<px4::params::EKF2_EV_DELAY>)
-			_param_ekf2_ev_delay, ///< off-board vision measurement delay relative to the IMU (mSec)
+				_param_ekf2_ev_delay, ///< off-board vision measurement delay relative to the IMU (mSec)
 
-			(ParamExtInt<px4::params::EKF2_EV_CTRL>) _param_ekf2_ev_ctrl,	 ///< external vision (EV) control selection
+				(ParamExtInt<px4::params::EKF2_EV_CTRL>) _param_ekf2_ev_ctrl,	 ///< external vision (EV) control selection
-			(ParamInt<px4::params::EKF2_EV_NOISE_MD>) _param_ekf2_ev_noise_md, ///< determine source of vision observation noise
+				(ParamInt<px4::params::EKF2_EV_NOISE_MD>) _param_ekf2_ev_noise_md, ///< determine source of vision observation noise
-			(ParamExtInt<px4::params::EKF2_EV_QMIN>) _param_ekf2_ev_qmin,
+				(ParamExtInt<px4::params::EKF2_EV_QMIN>) _param_ekf2_ev_qmin,
-			(ParamExtFloat<px4::params::EKF2_EVP_NOISE>)
+				(ParamExtFloat<px4::params::EKF2_EVP_NOISE>)
-			_param_ekf2_evp_noise, ///< default position observation noise for exernal vision measurements (m)
+				_param_ekf2_evp_noise, ///< default position observation noise for exernal vision measurements (m)
-			(ParamExtFloat<px4::params::EKF2_EVV_NOISE>)
+				(ParamExtFloat<px4::params::EKF2_EVV_NOISE>)
-			_param_ekf2_evv_noise, ///< default velocity observation noise for exernal vision measurements (m/s)
+				_param_ekf2_evv_noise, ///< default velocity observation noise for exernal vision measurements (m/s)
-			(ParamExtFloat<px4::params::EKF2_EVA_NOISE>)
+				(ParamExtFloat<px4::params::EKF2_EVA_NOISE>)
-			_param_ekf2_eva_noise, ///< default angular observation noise for exernal vision measurements (rad)
+				_param_ekf2_eva_noise, ///< default angular observation noise for exernal vision measurements (rad)
-			(ParamExtFloat<px4::params::EKF2_EVV_GATE>)
+				(ParamExtFloat<px4::params::EKF2_EVV_GATE>)
-			_param_ekf2_evv_gate, ///< external vision velocity innovation consistency gate size (STD)
+				_param_ekf2_evv_gate, ///< external vision velocity innovation consistency gate size (STD)
-			(ParamExtFloat<px4::params::EKF2_EVP_GATE>)
+				(ParamExtFloat<px4::params::EKF2_EVP_GATE>)
-			_param_ekf2_evp_gate, ///< external vision position innovation consistency gate size (STD)
+				_param_ekf2_evp_gate, ///< external vision position innovation consistency gate size (STD)
 
-			(ParamExtFloat<px4::params::EKF2_EV_POS_X>)
+				(ParamExtFloat<px4::params::EKF2_EV_POS_X>)
-			_param_ekf2_ev_pos_x, ///< X position of VI sensor focal point in body frame (m)
+				_param_ekf2_ev_pos_x, ///< X position of VI sensor focal point in body frame (m)
-			(ParamExtFloat<px4::params::EKF2_EV_POS_Y>)
+				(ParamExtFloat<px4::params::EKF2_EV_POS_Y>)
-			_param_ekf2_ev_pos_y, ///< Y position of VI sensor focal point in body frame (m)
+				_param_ekf2_ev_pos_y, ///< Y position of VI sensor focal point in body frame (m)
-			(ParamExtFloat<px4::params::EKF2_EV_POS_Z>)
+				(ParamExtFloat<px4::params::EKF2_EV_POS_Z>)
-			_param_ekf2_ev_pos_z ///< Z position of VI sensor focal point in body frame (m)
+				_param_ekf2_ev_pos_z ///< Z position of VI sensor focal point in body frame (m)
-		),
+						 ),
 
 		DEFINE_PARAMETER_GROUP_IF_ENABLED(CONFIG_EKF2_OPTICAL_FLOW, optical_flow, PARAMETER_GROUP_FEATURE(CONFIG_EKF2_OPTICAL_FLOW),
-			// optical flow fusion
+				// optical flow fusion
-			(ParamExtInt<px4::params::EKF2_OF_CTRL>)
+				(ParamExtInt<px4::params::EKF2_OF_CTRL>)
-			_param_ekf2_of_ctrl,
+				_param_ekf2_of_ctrl,
-			(ParamExtInt<px4::params::EKF2_OF_GYR_SRC>)
+				(ParamExtInt<px4::params::EKF2_OF_GYR_SRC>)
-			_param_ekf2_of_gyr_src,
+				_param_ekf2_of_gyr_src,
-			(ParamExtFloat<px4::params::EKF2_OF_DELAY>)
+				(ParamExtFloat<px4::params::EKF2_OF_DELAY>)
-			_param_ekf2_of_delay, ///< optical flow measurement delay relative to the IMU (mSec) - this is to the middle of the optical flow integration interval
+				_param_ekf2_of_delay, ///< optical flow measurement delay relative to the IMU (mSec) - this is to the middle of the optical flow integration interval
-			(ParamExtFloat<px4::params::EKF2_OF_N_MIN>)
+				(ParamExtFloat<px4::params::EKF2_OF_N_MIN>)
-			_param_ekf2_of_n_min, ///< best quality observation noise for optical flow LOS rate measurements (rad/sec)
+				_param_ekf2_of_n_min, ///< best quality observation noise for optical flow LOS rate measurements (rad/sec)
-			(ParamExtFloat<px4::params::EKF2_OF_N_MAX>)
+				(ParamExtFloat<px4::params::EKF2_OF_N_MAX>)
-			_param_ekf2_of_n_max, ///< worst quality observation noise for optical flow LOS rate measurements (rad/sec)
+				_param_ekf2_of_n_max, ///< worst quality observation noise for optical flow LOS rate measurements (rad/sec)
-			(ParamExtInt<px4::params::EKF2_OF_QMIN>)
+				(ParamExtInt<px4::params::EKF2_OF_QMIN>)
-			_param_ekf2_of_qmin, ///< minimum acceptable quality integer from  the flow sensor when in air
+				_param_ekf2_of_qmin, ///< minimum acceptable quality integer from  the flow sensor when in air
-			(ParamExtInt<px4::params::EKF2_OF_QMIN_GND>)
+				(ParamExtInt<px4::params::EKF2_OF_QMIN_GND>)
-			_param_ekf2_of_qmin_gnd, ///< minimum acceptable quality integer from  the flow sensor when on ground
+				_param_ekf2_of_qmin_gnd, ///< minimum acceptable quality integer from  the flow sensor when on ground
-			(ParamExtFloat<px4::params::EKF2_OF_GATE>)
+				(ParamExtFloat<px4::params::EKF2_OF_GATE>)
-			_param_ekf2_of_gate, ///< optical flow fusion innovation consistency gate size (STD)
+				_param_ekf2_of_gate, ///< optical flow fusion innovation consistency gate size (STD)
-			(ParamExtFloat<px4::params::EKF2_OF_POS_X>)
+				(ParamExtFloat<px4::params::EKF2_OF_POS_X>)
-			_param_ekf2_of_pos_x, ///< X position of optical flow sensor focal point in body frame (m)
+				_param_ekf2_of_pos_x, ///< X position of optical flow sensor focal point in body frame (m)
-			(ParamExtFloat<px4::params::EKF2_OF_POS_Y>)
+				(ParamExtFloat<px4::params::EKF2_OF_POS_Y>)
-			_param_ekf2_of_pos_y, ///< Y position of optical flow sensor focal point in body frame (m)
+				_param_ekf2_of_pos_y, ///< Y position of optical flow sensor focal point in body frame (m)
-			(ParamExtFloat<px4::params::EKF2_OF_POS_Z>)
+				(ParamExtFloat<px4::params::EKF2_OF_POS_Z>)
-			_param_ekf2_of_pos_z ///< Z position of optical flow sensor focal point in body frame (m)
+				_param_ekf2_of_pos_z ///< Z position of optical flow sensor focal point in body frame (m)
-		),
+						 ),
 
 		DEFINE_PARAMETER_GROUP_IF_ENABLED(CONFIG_EKF2_DRAG_FUSION, drag_fusion, PARAMETER_GROUP_FEATURE(CONFIG_EKF2_DRAG_FUSION),
-			(ParamExtInt<px4::params::EKF2_DRAG_CTRL>) _param_ekf2_drag_ctrl,		///< drag fusion selection
+				(ParamExtInt<px4::params::EKF2_DRAG_CTRL>) _param_ekf2_drag_ctrl,		///< drag fusion selection
-			// Multi-rotor drag specific force fusion
+				// Multi-rotor drag specific force fusion
-			(ParamExtFloat<px4::params::EKF2_DRAG_NOISE>)
+				(ParamExtFloat<px4::params::EKF2_DRAG_NOISE>)
-			_param_ekf2_drag_noise,	///< observation noise variance for drag specific force measurements (m/sec**2)**2
+				_param_ekf2_drag_noise,	///< observation noise variance for drag specific force measurements (m/sec**2)**2
-			(ParamExtFloat<px4::params::EKF2_BCOEF_X>) _param_ekf2_bcoef_x,		///< ballistic coefficient along the X-axis (kg/m**2)
+				(ParamExtFloat<px4::params::EKF2_BCOEF_X>) _param_ekf2_bcoef_x,		///< ballistic coefficient along the X-axis (kg/m**2)
-			(ParamExtFloat<px4::params::EKF2_BCOEF_Y>) _param_ekf2_bcoef_y,		///< ballistic coefficient along the Y-axis (kg/m**2)
+				(ParamExtFloat<px4::params::EKF2_BCOEF_Y>) _param_ekf2_bcoef_y,		///< ballistic coefficient along the Y-axis (kg/m**2)
-			(ParamExtFloat<px4::params::EKF2_MCOEF>) _param_ekf2_mcoef		///< propeller momentum drag coefficient (1/s)
+				(ParamExtFloat<px4::params::EKF2_MCOEF>) _param_ekf2_mcoef		///< propeller momentum drag coefficient (1/s)
-		),
+						 ),
 
 		DEFINE_PARAMETER_GROUP_IF_ENABLED(CONFIG_EKF2_GRAVITY_FUSION, gravity_fusion, PARAMETER_GROUP_FEATURE(CONFIG_EKF2_GRAVITY_FUSION),
-			(ParamExtFloat<px4::params::EKF2_GRAV_NOISE>) _param_ekf2_grav_noise
+				(ParamExtFloat<px4::params::EKF2_GRAV_NOISE>) _param_ekf2_grav_noise
-		),
+						 ),
 
 		DEFINE_PARAMETER_GROUP(output_predictor, PARAMETER_GROUP_ALWAYS,
-			// sensor positions in body frame
+				       // sensor positions in body frame
-			(ParamExtFloat<px4::params::EKF2_IMU_POS_X>) _param_ekf2_imu_pos_x,		///< X position of IMU in body frame (m)
+				       (ParamExtFloat<px4::params::EKF2_IMU_POS_X>) _param_ekf2_imu_pos_x,		///< X position of IMU in body frame (m)
-			(ParamExtFloat<px4::params::EKF2_IMU_POS_Y>) _param_ekf2_imu_pos_y,		///< Y position of IMU in body frame (m)
+				       (ParamExtFloat<px4::params::EKF2_IMU_POS_Y>) _param_ekf2_imu_pos_y,		///< Y position of IMU in body frame (m)
-			(ParamExtFloat<px4::params::EKF2_IMU_POS_Z>) _param_ekf2_imu_pos_z,		///< Z position of IMU in body frame (m)
+				       (ParamExtFloat<px4::params::EKF2_IMU_POS_Z>) _param_ekf2_imu_pos_z,		///< Z position of IMU in body frame (m)
 
-			// IMU switch on bias parameters
+				       // IMU switch on bias parameters
-			(ParamExtFloat<px4::params::EKF2_GBIAS_INIT>)
+				       (ParamExtFloat<px4::params::EKF2_GBIAS_INIT>)
-			_param_ekf2_gbias_init,	///< 1-sigma gyro bias uncertainty at switch on (rad/sec)
+				       _param_ekf2_gbias_init,	///< 1-sigma gyro bias uncertainty at switch on (rad/sec)
-			(ParamExtFloat<px4::params::EKF2_ABIAS_INIT>)
+				       (ParamExtFloat<px4::params::EKF2_ABIAS_INIT>)
-			_param_ekf2_abias_init,	///< 1-sigma accelerometer bias uncertainty at switch on (m/sec**2)
+				       _param_ekf2_abias_init,	///< 1-sigma accelerometer bias uncertainty at switch on (m/sec**2)
-			(ParamExtFloat<px4::params::EKF2_ANGERR_INIT>)
+				       (ParamExtFloat<px4::params::EKF2_ANGERR_INIT>)
-			_param_ekf2_angerr_init,	///< 1-sigma tilt error after initial alignment using gravity vector (rad)
+				       _param_ekf2_angerr_init,	///< 1-sigma tilt error after initial alignment using gravity vector (rad)
 
-			// EKF accel bias learning control
+				       // EKF accel bias learning control
-			(ParamExtFloat<px4::params::EKF2_ABL_LIM>) _param_ekf2_abl_lim,	///< Accelerometer bias learning limit (m/s**2)
+				       (ParamExtFloat<px4::params::EKF2_ABL_LIM>) _param_ekf2_abl_lim,	///< Accelerometer bias learning limit (m/s**2)
-			(ParamExtFloat<px4::params::EKF2_ABL_ACCLIM>)
+				       (ParamExtFloat<px4::params::EKF2_ABL_ACCLIM>)
-			_param_ekf2_abl_acclim,	///< Maximum IMU accel magnitude that allows IMU bias learning (m/s**2)
+				       _param_ekf2_abl_acclim,	///< Maximum IMU accel magnitude that allows IMU bias learning (m/s**2)
-			(ParamExtFloat<px4::params::EKF2_ABL_GYRLIM>)
+				       (ParamExtFloat<px4::params::EKF2_ABL_GYRLIM>)
-			_param_ekf2_abl_gyrlim,	///< Maximum IMU gyro angular rate magnitude that allows IMU bias learning (m/s**2)
+				       _param_ekf2_abl_gyrlim,	///< Maximum IMU gyro angular rate magnitude that allows IMU bias learning (m/s**2)
-			(ParamExtFloat<px4::params::EKF2_ABL_TAU>)
+				       (ParamExtFloat<px4::params::EKF2_ABL_TAU>)
-			_param_ekf2_abl_tau,	///< Time constant used to inhibit IMU delta velocity bias learning (sec)
+				       _param_ekf2_abl_tau,	///< Time constant used to inhibit IMU delta velocity bias learning (sec)
 
-			(ParamExtFloat<px4::params::EKF2_GYR_B_LIM>) _param_ekf2_gyr_b_lim,	///< Gyro bias learning limit (rad/s)
+				       (ParamExtFloat<px4::params::EKF2_GYR_B_LIM>) _param_ekf2_gyr_b_lim,	///< Gyro bias learning limit (rad/s)
 
-			// output predictor filter time constants
+				       // output predictor filter time constants
-			(ParamFloat<px4::params::EKF2_TAU_VEL>) _param_ekf2_tau_vel,
+				       (ParamFloat<px4::params::EKF2_TAU_VEL>) _param_ekf2_tau_vel,
-			(ParamFloat<px4::params::EKF2_TAU_POS>) _param_ekf2_tau_pos
+				       (ParamFloat<px4::params::EKF2_TAU_POS>) _param_ekf2_tau_pos
-		)
+				      )
 	)
 };
 #endif // !EKF2_HPP

src/modules/logger/logger.h

@@ -401,19 +401,19 @@ private:
 
 	DEFINE_PARAMETERS_GROUPED(
 		DEFINE_PARAMETER_GROUP(logging, PARAMETER_GROUP_ALWAYS,
-			(ParamInt<px4::params::SDLOG_UTC_OFFSET>) _param_sdlog_utc_offset,
+				       (ParamInt<px4::params::SDLOG_UTC_OFFSET>) _param_sdlog_utc_offset,
-			(ParamInt<px4::params::SDLOG_MAX_SIZE>) _param_sdlog_max_size,
+				       (ParamInt<px4::params::SDLOG_MAX_SIZE>) _param_sdlog_max_size,
-			(ParamInt<px4::params::SDLOG_ROTATE>) _param_sdlog_rotate,
+				       (ParamInt<px4::params::SDLOG_ROTATE>) _param_sdlog_rotate,
-			(ParamInt<px4::params::SDLOG_DIRS_MAX>) _param_sdlog_dirs_max,
+				       (ParamInt<px4::params::SDLOG_DIRS_MAX>) _param_sdlog_dirs_max,
-			(ParamInt<px4::params::SDLOG_PROFILE>) _param_sdlog_profile,
+				       (ParamInt<px4::params::SDLOG_PROFILE>) _param_sdlog_profile,
-			(ParamInt<px4::params::SDLOG_MISSION>) _param_sdlog_mission,
+				       (ParamInt<px4::params::SDLOG_MISSION>) _param_sdlog_mission,
-			(ParamBool<px4::params::SDLOG_BOOT_BAT>) _param_sdlog_boot_bat,
+				       (ParamBool<px4::params::SDLOG_BOOT_BAT>) _param_sdlog_boot_bat,
-			(ParamBool<px4::params::SDLOG_UUID>) _param_sdlog_uuid),
+				       (ParamBool<px4::params::SDLOG_UUID>) _param_sdlog_uuid),
 
 		DEFINE_PARAMETER_GROUP_IF_ENABLED(PX4_CRYPTO, encrypted_logging, PARAMETER_GROUP_FEATURE(PX4_CRYPTO),
-			(ParamInt<px4::params::SDLOG_ALGORITHM>) _param_sdlog_crypto_algorithm,
+				(ParamInt<px4::params::SDLOG_ALGORITHM>) _param_sdlog_crypto_algorithm,
-			(ParamInt<px4::params::SDLOG_KEY>) _param_sdlog_crypto_key,
+				(ParamInt<px4::params::SDLOG_KEY>) _param_sdlog_crypto_key,
-			(ParamInt<px4::params::SDLOG_EXCH_KEY>) _param_sdlog_crypto_exchange_key)
+				(ParamInt<px4::params::SDLOG_EXCH_KEY>) _param_sdlog_crypto_exchange_key)
 	)
 };
 

src/modules/sensors/sensors.hpp

@@ -251,19 +251,19 @@ private:
 
 	DEFINE_PARAMETERS_GROUPED(
 		DEFINE_PARAMETER_GROUP_IF_ENABLED(CONFIG_SENSORS_VEHICLE_AIR_DATA, vehicle_air_data,
-						  PARAMETER_GROUP_FEATURE(CONFIG_SENSORS_VEHICLE_AIR_DATA),
+				PARAMETER_GROUP_FEATURE(CONFIG_SENSORS_VEHICLE_AIR_DATA),
-			(ParamBool<px4::params::SYS_HAS_BARO>) _param_sys_has_baro
+				(ParamBool<px4::params::SYS_HAS_BARO>) _param_sys_has_baro
-		),
+						 ),
 		DEFINE_PARAMETER_GROUP_IF_ENABLED(CONFIG_SENSORS_VEHICLE_GPS_POSITION, vehicle_gps_position,
-						  PARAMETER_GROUP_FEATURE(CONFIG_SENSORS_VEHICLE_GPS_POSITION),
+				PARAMETER_GROUP_FEATURE(CONFIG_SENSORS_VEHICLE_GPS_POSITION),
-			(ParamBool<px4::params::SYS_HAS_GPS>) _param_sys_has_gps
+				(ParamBool<px4::params::SYS_HAS_GPS>) _param_sys_has_gps
-		),
+						 ),
 		DEFINE_PARAMETER_GROUP_IF_ENABLED(CONFIG_SENSORS_VEHICLE_MAGNETOMETER, vehicle_magnetometer,
-						  PARAMETER_GROUP_FEATURE(CONFIG_SENSORS_VEHICLE_MAGNETOMETER),
+				PARAMETER_GROUP_FEATURE(CONFIG_SENSORS_VEHICLE_MAGNETOMETER),
-			(ParamInt<px4::params::SYS_HAS_MAG>) _param_sys_has_mag
+				(ParamInt<px4::params::SYS_HAS_MAG>) _param_sys_has_mag
-		),
+						 ),
 		DEFINE_PARAMETER_GROUP(imu_mode, PARAMETER_GROUP_ALWAYS,
-			(ParamBool<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode
+				       (ParamBool<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode
-		)
+				      )
 	)
 };

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp

@@ -183,21 +183,21 @@ private:
 
 	DEFINE_PARAMETERS_GROUPED(
 		DEFINE_PARAMETER_GROUP_UNLESS_ENABLED(CONSTRAINED_FLASH, dynamic_notch_filter,
-						       PARAMETER_GROUP_CONDITION(!defined(CONSTRAINED_FLASH)),
+				PARAMETER_GROUP_CONDITION(!defined(CONSTRAINED_FLASH)),
-			(ParamInt<px4::params::IMU_GYRO_DNF_EN>) _param_imu_gyro_dnf_en,
+				(ParamInt<px4::params::IMU_GYRO_DNF_EN>) _param_imu_gyro_dnf_en,
-			(ParamInt<px4::params::IMU_GYRO_DNF_HMC>) _param_imu_gyro_dnf_hmc,
+				(ParamInt<px4::params::IMU_GYRO_DNF_HMC>) _param_imu_gyro_dnf_hmc,
-			(ParamFloat<px4::params::IMU_GYRO_DNF_BW>) _param_imu_gyro_dnf_bw,
+				(ParamFloat<px4::params::IMU_GYRO_DNF_BW>) _param_imu_gyro_dnf_bw,
-			(ParamFloat<px4::params::IMU_GYRO_DNF_MIN>) _param_imu_gyro_dnf_min
+				(ParamFloat<px4::params::IMU_GYRO_DNF_MIN>) _param_imu_gyro_dnf_min
-		),
+						     ),
 		DEFINE_PARAMETER_GROUP(gyro_filtering, PARAMETER_GROUP_ALWAYS,
-			(ParamFloat<px4::params::IMU_GYRO_CUTOFF>) _param_imu_gyro_cutoff,
+				       (ParamFloat<px4::params::IMU_GYRO_CUTOFF>) _param_imu_gyro_cutoff,
-			(ParamFloat<px4::params::IMU_GYRO_NF0_FRQ>) _param_imu_gyro_nf0_frq,
+				       (ParamFloat<px4::params::IMU_GYRO_NF0_FRQ>) _param_imu_gyro_nf0_frq,
-			(ParamFloat<px4::params::IMU_GYRO_NF0_BW>) _param_imu_gyro_nf0_bw,
+				       (ParamFloat<px4::params::IMU_GYRO_NF0_BW>) _param_imu_gyro_nf0_bw,
-			(ParamFloat<px4::params::IMU_GYRO_NF1_FRQ>) _param_imu_gyro_nf1_frq,
+				       (ParamFloat<px4::params::IMU_GYRO_NF1_FRQ>) _param_imu_gyro_nf1_frq,
-			(ParamFloat<px4::params::IMU_GYRO_NF1_BW>) _param_imu_gyro_nf1_bw,
+				       (ParamFloat<px4::params::IMU_GYRO_NF1_BW>) _param_imu_gyro_nf1_bw,
-			(ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_ratemax,
+				       (ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_ratemax,
-			(ParamFloat<px4::params::IMU_DGYRO_CUTOFF>) _param_imu_dgyro_cutoff
+				       (ParamFloat<px4::params::IMU_DGYRO_CUTOFF>) _param_imu_dgyro_cutoff
-		)
+				      )
 	)
 };
 

src/modules/simulation/simulator_sih/sih.cpp

@@ -118,7 +118,7 @@ static uint64_t wall_time_us()
 	gettimeofday(&t, nullptr);
 	return t.tv_sec * static_cast<uint64_t>(1000000) + t.tv_usec;
 #else
-	timespec ts{};
+	timespec ts {};
 	system_clock_gettime(CLOCK_MONOTONIC, &ts);
 	return (static_cast<uint64_t>(ts.tv_sec) * 1000000ULL) + (static_cast<uint64_t>(ts.tv_nsec) / 1000ULL);
 #endif
@@ -135,10 +135,13 @@ static void lockstep_wall_sleep(int sleep_time_us)
 		const uint64_t sleep_until_us = wall_time_us() + sleep_time_us;
 
 #if defined(__PX4_WINDOWS)
+
 		while (wall_time_us() < sleep_until_us) {
 			sched_yield();
 		}
+
 #else
+
 		while (true) {
 			const uint64_t now_us = wall_time_us();
 
@@ -150,6 +153,7 @@ static void lockstep_wall_sleep(int sleep_time_us)
 				sched_yield();
 			}
 		}
+
 #endif
 
 	} else {

src/modules/uxrce_dds_client/uxrce_dds_client.h

@@ -161,7 +161,7 @@ private:
 	Transport _transport{};
 
 #if defined(UXRCE_DDS_CLIENT_SERIAL)
-	uxrSerialTransport *_transport_serial{nullptr};
+	uxrSerialTransport *_transport_serial {nullptr};
 #endif
 	char _device[32] {};
 	int _baudrate{};