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fix(drvers/ins): Fix Microstrain codestyle according astyle-config

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This commit is contained in:
Valentin Bugrov
2026-04-02 20:39:11 +07:00
committed by Ramon Roche
parent a7ebab58cb
commit 2b76573301
1 changed files with 24 additions and 3 deletions
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src/drivers/ins/microstrain/MicroStrain.cpp
+24 -3
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@@ -196,6 +196,7 @@ mip_cmd_result MicroStrain::forceIdle()
while (set_to_idle_tries++ < 3) {
res = mip_base_set_idle(&_device);
if (mip_cmd_result_is_ack(res)) {
break;
@@ -831,6 +832,7 @@ mip_cmd_result MicroStrain::configureGnssAiding()
// Sets up the GNSS aiding source
if (supportsDescriptor(MIP_FILTER_CMD_DESC_SET, MIP_CMD_DESC_FILTER_GNSS_SOURCE_CONTROL)) {
res = mip_filter_write_gnss_source(&_device, (uint8_t)_param_ms_gnss_aid_src_ctrl.get());
if (!mip_cmd_result_is_ack(res)) {
PX4_ERR("Could not write the gnss aiding source");
return res;
@@ -845,6 +847,7 @@ mip_cmd_result MicroStrain::configureGnssAiding()
res = mip_aiding_write_frame_config(&_device, 1,
MIP_AIDING_FRAME_CONFIG_COMMAND_FORMAT_EULER, false,
gnss_antenna_offset1, &rotation_gnss);
if (!mip_cmd_result_is_ack(res)) {
PX4_ERR("Could not write aiding frame config");
return res;
@@ -879,6 +882,7 @@ mip_cmd_result MicroStrain::configureGnssAiding()
_param_ms_int_heading_en.get(),
0, 0, nullptr, mip_aiding_frame_config_command_rotation{},
0, _int_aiding, "dual antenna heading");
if (!mip_cmd_result_is_ack(res)) {
return res;
}
@@ -889,6 +893,7 @@ mip_cmd_result MicroStrain::configureGnssAiding()
res = mip_aiding_write_frame_config(&_device, 1,
MIP_AIDING_FRAME_CONFIG_COMMAND_FORMAT_EULER, false,
gnss_antenna_offset1, &rotation_gnss);
if (!mip_cmd_result_is_ack(res)) {
PX4_ERR("Could not write aiding frame config");
return res;
@@ -912,6 +917,7 @@ mip_cmd_result MicroStrain::configureAidingSources()
_param_ms_int_mag_en.get(),
0, 0, nullptr, mip_aiding_frame_config_command_rotation{},
0, _int_aiding, "internal magnetometer");
if (!mip_cmd_result_is_ack(res)) {
return res;
}
@@ -924,6 +930,7 @@ mip_cmd_result MicroStrain::configureAidingSources()
MIP_CMD_DESC_AIDING_MAGNETIC_FIELD,
_ext_mag_aiding,
"external magnetometer");
if (!mip_cmd_result_is_ack(res)) {
return res;
}
@@ -936,6 +943,7 @@ mip_cmd_result MicroStrain::configureAidingSources()
MIP_CMD_DESC_AIDING_VEL_ODOM,
_ext_optical_flow_aiding,
"optical flow");
if (!mip_cmd_result_is_ack(res)) {
return res;
}
@@ -948,6 +956,7 @@ mip_cmd_result MicroStrain::configureAidingSources()
MIP_CMD_DESC_AIDING_HEADING_TRUE,
_ext_heading_aiding,
"external heading");
if (!mip_cmd_result_is_ack(res)) {
return res;
}
@@ -1016,6 +1025,7 @@ bool MicroStrain::initializeIns()
PX4_INFO("Setting the baud to desired baud rate");
res = writeBaudRate(DESIRED_BAUDRATE, 1);
if (!mip_cmd_result_is_ack(res)) {
PX4_ERR("Could not set the baudrate!");
return false;
@@ -1031,6 +1041,7 @@ bool MicroStrain::initializeIns()
// Configure IMU ranges
res = configureImuRange();
if (!mip_cmd_result_is_ack(res)) {
MS_PX4_ERROR(res, "Could not configure IMU range");
return false;
@@ -1038,6 +1049,7 @@ bool MicroStrain::initializeIns()
// Configure the IMU message formt based on what descriptors are supported
res = configureImuMessageFormat();
if (!mip_cmd_result_is_ack(res)) {
MS_PX4_ERROR(res, "Could not write IMU message format");
return false;
@@ -1050,6 +1062,7 @@ bool MicroStrain::initializeIns()
// Configure the Filter message format based on what descriptors are supported
res = configureFilterMessageFormat();
if (!mip_cmd_result_is_ack(res)) {
MS_PX4_ERROR(res, "Could not write filter message format");
return false;
@@ -1062,6 +1075,7 @@ bool MicroStrain::initializeIns()
// Configure the GNSS1 message format based on what descriptors are supported
res = configureGnssMessageFormat(MIP_GNSS1_DATA_DESC_SET);
if (!mip_cmd_result_is_ack(res)) {
MS_PX4_ERROR(res, "Could not write GNSS1 message format");
}
@@ -1073,6 +1087,7 @@ bool MicroStrain::initializeIns()
// Configure the GNSS2 message format based on what descriptors are supported
res = configureGnssMessageFormat(MIP_GNSS2_DATA_DESC_SET);
if (!mip_cmd_result_is_ack(res)) {
MS_PX4_ERROR(res, "Could not write GNSS2 message format");
}
@@ -1084,6 +1099,7 @@ bool MicroStrain::initializeIns()
// Configure the aiding sources based on what the sensor supports
res = configureAidingSources();
if (!mip_cmd_result_is_ack(res)) {
MS_PX4_ERROR(res, "Could not configure aiding frames!");
return false;
@@ -1091,6 +1107,7 @@ bool MicroStrain::initializeIns()
// Initialize the filter
res = writeFilterInitConfig();
if (!mip_cmd_result_is_ack(res)) {
MS_PX4_ERROR(res, "Could not configure filter initialization!");
return false;
@@ -1101,9 +1118,10 @@ bool MicroStrain::initializeIns()
PX4_DEBUG("Writing SVT");
res = mip_3dm_write_sensor_2_vehicle_transform_euler(&_device,
math::radians<float>(rotation_sens.euler[0]),
math::radians<float>(rotation_sens.euler[1]),
math::radians<float>(rotation_sens.euler[2]));
math::radians<float>(rotation_sens.euler[0]),
math::radians<float>(rotation_sens.euler[1]),
math::radians<float>(rotation_sens.euler[2]));
if (!mip_cmd_result_is_ack(res)) {
MS_PX4_ERROR(res, "Could not set sensor-to-vehicle transformation!");
return false;
@@ -1115,6 +1133,7 @@ bool MicroStrain::initializeIns()
PX4_DEBUG("Reseting filter");
res = mip_filter_reset(&_device);
if (!mip_cmd_result_is_ack(res)) {
MS_PX4_ERROR(res, "Could not reset the filter!");
return false;
@@ -1126,6 +1145,7 @@ bool MicroStrain::initializeIns()
res = mip_3dm_write_datastream_control(&_device,
MIP_3DM_DATASTREAM_CONTROL_COMMAND_ALL_STREAMS, true);
if (!mip_cmd_result_is_ack(res)) {
MS_PX4_ERROR(res, "Could not enable the data stream");
return false;
@@ -1137,6 +1157,7 @@ bool MicroStrain::initializeIns()
PX4_DEBUG("Resuming device");
res = mip_base_resume(&_device);
if (!mip_cmd_result_is_ack(res)) {
MS_PX4_ERROR(res, "Could not resume the device!");
return false;