clang-tidy: fix issues (#26498)

Makefile

@@ -505,7 +505,7 @@ px4_sitl_default-clang:
 # To add manual exclusions, append to CLANG_TIDY_EXCLUDE_EXTRA below.
 # Submodules are automatically excluded - no action needed when adding new ones.
 CLANG_TIDY_SUBMODULES := $(shell git config --file .gitmodules --get-regexp path | awk '{print $$2}' | tr '\n' '|' | sed 's/|$$//')
-CLANG_TIDY_EXCLUDE_EXTRA := src/systemcmds/tests|src/examples|src/modules/gyro_fft/CMSIS_5|src/lib/drivers/smbus|src/drivers/gpio|src/modules/commander/failsafe/emscripten|failsafe_test\.dir
+CLANG_TIDY_EXCLUDE_EXTRA := src/systemcmds/tests|src/examples|src/modules/gyro_fft/CMSIS_5|src/lib/drivers/smbus|src/drivers/gpio|src/modules/commander/failsafe/emscripten|failsafe_test\.dir|\.pb\.cc
 CLANG_TIDY_EXCLUDE := $(CLANG_TIDY_SUBMODULES)|$(CLANG_TIDY_EXCLUDE_EXTRA)
 
 clang-tidy: px4_sitl_default-clang

src/lib/mathlib/math/filter/LowPassFilter2p.hpp

@@ -100,7 +100,7 @@ public:
 		// Direct Form II implementation
 		T delay_element_0{sample - _delay_element_1 *_a1 - _delay_element_2 * _a2};
 
-		const T output{delay_element_0 *_b0 + _delay_element_1 *_b1 + _delay_element_2 * _b2};
+		T output{delay_element_0 *_b0 + _delay_element_1 *_b1 + _delay_element_2 * _b2};
 
 		_delay_element_2 = _delay_element_1;
 		_delay_element_1 = delay_element_0;

src/lib/rate_control/rate_control.cpp

@@ -75,7 +75,7 @@ Vector3f RateControl::update(const Vector3f &rate, const Vector3f &rate_sp, cons
 	Vector3f rate_error = rate_sp - rate;
 
 	// PID control with feed forward
-	const Vector3f torque = _gain_p.emult(rate_error) + _rate_int - _gain_d.emult(angular_accel) + _gain_ff.emult(rate_sp);
+	Vector3f torque = _gain_p.emult(rate_error) + _rate_int - _gain_d.emult(angular_accel) + _gain_ff.emult(rate_sp);
 
 	// update integral only if we are not landed
 	if (!landed) {

src/modules/rover_mecanum/MecanumActControl/MecanumActControl.cpp

@@ -111,7 +111,7 @@ Vector4f MecanumActControl::computeInverseKinematics(float throttle_body_x, floa
 	const Matrix<float, 3, 1> input(input_data);
 	const float m_data[12] = {1.f, -1.f, -1.f, 1.f, 1.f, 1.f, 1.f, 1.f, -1.f, 1.f, -1.f, 1.f};
 	const Matrix<float, 4, 3> m(m_data);
-	const Vector4f motor_commands = m * input;
+	Vector4f motor_commands = m * input;
 
 	return motor_commands;
 }

src/modules/sensors/Integrator.hpp

@@ -132,7 +132,7 @@ protected:
 		// Use trapezoidal integration to calculate the delta integral
 		_integrated_samples++;
 		_integral_dt += dt;
-		const matrix::Vector3f delta_alpha{(val + _last_val) *dt * 0.5f};
+		matrix::Vector3f delta_alpha{(val + _last_val) *dt * 0.5f};
 		_last_val = val;
 
 		return delta_alpha;

src/modules/simulation/gz_plugins/buoyancy/BuoyancySystem.cpp

@@ -277,7 +277,7 @@ void BuoyancyPrivate::CheckForNewEntities(const EntityComponentManager &_ecm)
 		[&](const Entity & _entity,
 		    const components::Link *,
 	const components::Inertial *) -> bool {
-		if (this->basicBuoyancy == true) return true;
+		if (this->basicBuoyancy == true) { return true; }
 		// Skip if the entity already has a volume and center of volume
 		if (_ecm.EntityHasComponentType(_entity,
 						components::CenterOfVolume().TypeId()) &&

src/modules/simulation/gz_plugins/spacecraft_thruster/SpacecraftThrusterModel.cpp

@@ -334,16 +334,18 @@ void SpacecraftThrusterModelPrivate::UpdateForcesAndMoments(
 	// d: cycle period
 	double targetDutyCycle = normalizedInput * (1.0 / this->dutyCycleFrequency);
 
-	if (this->actuatorNumber == 0)
+	if (this->actuatorNumber == 0) {
 		gzdbg << this->actuatorNumber
 		      << ": target duty cycle: " << targetDutyCycle << std::endl;
+	}
 
 	// Calculate cycle start time
 	if (this->samplingTime >= 1.0 / this->dutyCycleFrequency) {
-		if (this->actuatorNumber == 0)
+		if (this->actuatorNumber == 0) {
 			gzdbg << this->actuatorNumber
 			      << ": Cycle completed. Resetting cycle start time."
 			      << std::endl;
+		}
 
 		this->cycleStartTime = this->simTime;
 	}
@@ -351,22 +353,24 @@ void SpacecraftThrusterModelPrivate::UpdateForcesAndMoments(
 	// Calculate sampling time instant within the cycle
 	this->samplingTime = this->simTime - this->cycleStartTime;
 
-	if (this->actuatorNumber == 0)
+	if (this->actuatorNumber == 0) {
 		gzdbg << this->actuatorNumber
 		      << ": PWM Period: " << 1.0 / this->dutyCycleFrequency
 		      << " Cycle Start time: " << this->cycleStartTime
 		      << " Sampling time: " << this->samplingTime << std::endl;
+	}
 
 	// Apply force if the sampling time is less than the target ON duty cycle
 	double force = this->samplingTime <= targetDutyCycle ? this->maxThrust : 0.0;
 
 	if (targetDutyCycle < 1e-9) { force = 0.0; }
 
-	if (this->actuatorNumber == 0)
+	if (this->actuatorNumber == 0) {
 		gzdbg << this->actuatorNumber
 		      << ": Force: " << force
 		      << "  Sampling time: " << this->samplingTime
 		      << "  Tgt duty cycle: " << targetDutyCycle << std::endl;
+	}
 
 	// Apply force to the link
 	Link link(this->linkEntity);
@@ -374,10 +378,11 @@ void SpacecraftThrusterModelPrivate::UpdateForcesAndMoments(
 	link.AddWorldForce(_ecm,
 			   worldPose->Rot().RotateVector(math::Vector3d(0, 0, force)));
 
-	if (this->actuatorNumber == 0)
+	if (this->actuatorNumber == 0) {
 		gzdbg << this->actuatorNumber
 		      << ": Input Value: " << msg->velocity(this->actuatorNumber)
 		      << "  Calc. Force: " << force << std::endl;
+	}
 }
 
 GZ_ADD_PLUGIN(SpacecraftThrusterModel,