Whitespace and line endings

flight/UAVObjects/uavobjectmanager.c

@@ -44,7 +44,7 @@ struct ObjectEventListStruct {
 	  xQueueHandle queue;
 	  UAVObjEventCallback cb;
 	  int32_t eventMask;
-	struct ObjectEventListStruct* next;
+	  struct ObjectEventListStruct *next;
 };
 typedef struct ObjectEventListStruct ObjectEventList;
 
@@ -52,9 +52,9 @@ typedef struct ObjectEventListStruct ObjectEventList;
  * List of object instances, holds the actual data structure and instance ID
  */
 struct ObjectInstListStruct {
-	void* data;
+	  void *data;
 	  uint16_t instId;
-	struct ObjectInstListStruct* next;
+	  struct ObjectInstListStruct *next;
 };
 typedef struct ObjectInstListStruct ObjectInstList;
 
@@ -62,34 +62,48 @@ typedef struct ObjectInstListStruct ObjectInstList;
  * List of objects registered in the object manager
  */
 struct ObjectListStruct {
-	uint32_t id; /** The object ID */
-	const char* name; /** The object name */
-	int8_t isMetaobject; /** Set to 1 if this is a metaobject */
-	int8_t isSingleInstance; /** Set to 1 if this object has a single instance */
-	int8_t isSettings; /** Set to 1 if this object is a settings object */
-	uint16_t numBytes; /** Number of data bytes contained in the object (for a single instance) */
-	uint16_t numInstances; /** Number of instances */
-	struct ObjectListStruct* linkedObj; /** Linked object, for regular objects this is the metaobject and for metaobjects it is the parent object */
-	ObjectInstList instances; /** List of object instances, instance 0 always exists */
-	ObjectEventList* events; /** Event queues registered on the object */
-	struct ObjectListStruct* next; /** Needed by linked list library (utlist.h) */
+	  uint32_t id;
+		     /** The object ID */
+	  const char *name;
+			  /** The object name */
+	  int8_t isMetaobject;
+			     /** Set to 1 if this is a metaobject */
+	  int8_t isSingleInstance;
+				 /** Set to 1 if this object has a single instance */
+	  int8_t isSettings;
+			   /** Set to 1 if this object is a settings object */
+	  uint16_t numBytes;
+			   /** Number of data bytes contained in the object (for a single instance) */
+	  uint16_t numInstances;
+			       /** Number of instances */
+	  struct ObjectListStruct *linkedObj;
+					    /** Linked object, for regular objects this is the metaobject and for metaobjects it is the parent object */
+	  ObjectInstList instances;
+				  /** List of object instances, instance 0 always exists */
+	  ObjectEventList *events;
+				 /** Event queues registered on the object */
+	  struct ObjectListStruct *next;
+				       /** Needed by linked list library (utlist.h) */
 };
 typedef struct ObjectListStruct ObjectList;
 
 // Private functions
-static int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event);
-static ObjectInstList* createInstance(ObjectList* obj, uint16_t instId);
-static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId);
-static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb, int32_t eventMask);
-static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb);
+static int32_t sendEvent(ObjectList * obj, uint16_t instId,
+			 UAVObjEventType event);
+static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId);
+static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId);
+static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
+			  UAVObjEventCallback cb, int32_t eventMask);
+static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
+			     UAVObjEventCallback cb);
 
 #if defined(PIOS_INCLUDE_SDCARD)
-static void objectFilename(ObjectList* obj, uint8_t* filename);
-static void customSPrintf(uint8_t* buffer, uint8_t* format, ...);
+static void objectFilename(ObjectList * obj, uint8_t * filename);
+static void customSPrintf(uint8_t * buffer, uint8_t * format, ...);
 #endif
 
 // Private variables
-static ObjectList* objList;
+static ObjectList *objList;
 static xSemaphoreHandle mutex;
 static UAVObjMetadata defMetadata;
 static UAVObjStats stats;
@@ -130,7 +144,7 @@ int32_t UAVObjInitialize()
  * Get the statistics counters
  * @param[out] statsOut The statistics counters will be copied there
  */
-void UAVObjGetStats(UAVObjStats* statsOut)
+void UAVObjGetStats(UAVObjStats * statsOut)
 {
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 	  memcpy(statsOut, &stats, sizeof(UAVObjStats));
@@ -160,21 +174,22 @@ void UAVObjClearStats()
  * \return Object handle, or NULL if failure.
  * \return
  */
-UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName, int32_t isMetaobject,
-		int32_t isSingleInstance, int32_t isSettings, uint32_t numBytes, UAVObjInitializeCallback initCb)
+UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
+			    const char *metaName, int32_t isMetaobject,
+			    int32_t isSingleInstance, int32_t isSettings,
+			    uint32_t numBytes,
+			    UAVObjInitializeCallback initCb)
 {
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
-	ObjectList* metaObj;
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
+	  ObjectList *metaObj;
 
 	  // Get lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Check that the object is not already registered
-	LL_FOREACH(objList, objEntry)
-	{
-		if (objEntry->id == id)
-		{
+	  LL_FOREACH(objList, objEntry) {
+		    if (objEntry->id == id) {
 			      // Already registered, ignore
 			      xSemaphoreGiveRecursive(mutex);
 			      return NULL;
@@ -182,17 +197,16 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName,
 	  }
 
 	  // Create and append entry
-	objEntry = (ObjectList*)pvPortMalloc(sizeof(ObjectList));
-	if (objEntry == NULL)
-	{
+	  objEntry = (ObjectList *) pvPortMalloc(sizeof(ObjectList));
+	  if (objEntry == NULL) {
 		    xSemaphoreGiveRecursive(mutex);
 		    return NULL;
 	  }
 	  objEntry->id = id;
 	  objEntry->name = name;
-	objEntry->isMetaobject = (int8_t)isMetaobject;
-	objEntry->isSingleInstance = (int8_t)isSingleInstance;
-	objEntry->isSettings = (int8_t)isSettings;
+	  objEntry->isMetaobject = (int8_t) isMetaobject;
+	  objEntry->isSingleInstance = (int8_t) isSingleInstance;
+	  objEntry->isSettings = (int8_t) isSettings;
 	  objEntry->numBytes = numBytes;
 	  objEntry->events = NULL;
 	  objEntry->numInstances = 0;
@@ -204,47 +218,41 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName,
 
 	  // Create instance zero
 	  instEntry = createInstance(objEntry, 0);
-	if ( instEntry == NULL )
-	{
+	  if (instEntry == NULL) {
 		    xSemaphoreGiveRecursive(mutex);
 		    return NULL;
 	  }
-
 	  // Create metaobject and update linkedObj
-	if (isMetaobject)
-	{
+	  if (isMetaobject) {
 		    objEntry->linkedObj = NULL;	// will be set later
-	}
-	else
-	{
+	  } else {
 		    // Create metaobject
-		metaObj = (ObjectList*)UAVObjRegister(id+1, metaName, NULL, 1, 1, 0, sizeof(UAVObjMetadata), NULL);
+		    metaObj =
+			(ObjectList *) UAVObjRegister(id + 1, metaName,
+						      NULL, 1, 1, 0,
+						      sizeof
+						      (UAVObjMetadata),
+						      NULL);
 		    // Link two objects
 		    objEntry->linkedObj = metaObj;
 		    metaObj->linkedObj = objEntry;
 	  }
 
 	  // Initialize object fields and metadata to default values
-	if ( initCb != NULL )
-	{
-		initCb((UAVObjHandle)objEntry, 0);
+	  if (initCb != NULL) {
+		    initCb((UAVObjHandle) objEntry, 0);
 	  }
-
 	  // Attempt to load object's metadata from the SD card (not done directly on the metaobject, but through the object)
-	if ( !objEntry->isMetaobject )
-	{
-		UAVObjLoad( (UAVObjHandle)objEntry->linkedObj, 0 );
+	  if (!objEntry->isMetaobject) {
+		    UAVObjLoad((UAVObjHandle) objEntry->linkedObj, 0);
 	  }
-
 	  // If this is a settings object, attempt to load from SD card
-	if ( objEntry->isSettings )
-	{
-		UAVObjLoad( (UAVObjHandle)objEntry, 0 );
+	  if (objEntry->isSettings) {
+		    UAVObjLoad((UAVObjHandle) objEntry, 0);
 	  }
-
 	  // Release lock
 	  xSemaphoreGiveRecursive(mutex);
-	return (UAVObjHandle)objEntry;
+	  return (UAVObjHandle) objEntry;
 }
 
 /**
@@ -254,20 +262,18 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName,
  */
 UAVObjHandle UAVObjGetByID(uint32_t id)
 {
-	ObjectList* objEntry;
+	  ObjectList *objEntry;
 
 	  // Get lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Look for object
-	LL_FOREACH(objList, objEntry)
-	{
-		if (objEntry->id == id)
-		{
+	  LL_FOREACH(objList, objEntry) {
+		    if (objEntry->id == id) {
 			      // Release lock
 			      xSemaphoreGiveRecursive(mutex);
 			      // Done, object found
-			return (UAVObjHandle)objEntry;
+			      return (UAVObjHandle) objEntry;
 		    }
 	  }
 
@@ -281,22 +287,21 @@ UAVObjHandle UAVObjGetByID(uint32_t id)
  * \param[in] name The name of the object
  * \return The object or NULL if not found.
  */
-UAVObjHandle UAVObjGetByName(char* name)
+UAVObjHandle UAVObjGetByName(char *name)
 {
-	ObjectList* objEntry;
+	  ObjectList *objEntry;
 
 	  // Get lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Look for object
-	LL_FOREACH(objList, objEntry)
-	{
-		if (objEntry->name != NULL && strcmp(objEntry->name, name) == 0)
-		{
+	  LL_FOREACH(objList, objEntry) {
+		    if (objEntry->name != NULL
+			&& strcmp(objEntry->name, name) == 0) {
 			      // Release lock
 			      xSemaphoreGiveRecursive(mutex);
 			      // Done, object found
-			return (UAVObjHandle)objEntry;
+			      return (UAVObjHandle) objEntry;
 		    }
 	  }
 
@@ -312,7 +317,7 @@ UAVObjHandle UAVObjGetByName(char* name)
  */
 uint32_t UAVObjGetID(UAVObjHandle obj)
 {
-	return ((ObjectList*)obj)->id;
+	  return ((ObjectList *) obj)->id;
 }
 
 /**
@@ -320,9 +325,9 @@ uint32_t UAVObjGetID(UAVObjHandle obj)
  * \param[in] obj The object handle
  * \return The object's name
  */
-const char* UAVObjGetName(UAVObjHandle obj)
+const char *UAVObjGetName(UAVObjHandle obj)
 {
-	return ((ObjectList*)obj)->name;
+	  return ((ObjectList *) obj)->name;
 }
 
 /**
@@ -332,7 +337,7 @@ const char* UAVObjGetName(UAVObjHandle obj)
  */
 uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
 {
-	return ((ObjectList*)obj)->numBytes;
+	  return ((ObjectList *) obj)->numBytes;
 }
 
 /**
@@ -344,7 +349,7 @@ uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
  */
 UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
 {
-	return (UAVObjHandle)(((ObjectList*)obj)->linkedObj);
+	  return (UAVObjHandle) (((ObjectList *) obj)->linkedObj);
 }
 
 /**
@@ -356,7 +361,7 @@ uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
 {
 	  uint32_t numInstances;
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	numInstances = ((ObjectList*)obj)->numInstances;
+	  numInstances = ((ObjectList *) obj)->numInstances;
 	  xSemaphoreGiveRecursive(mutex);
 	  return numInstances;
 }
@@ -366,29 +371,26 @@ uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
  * \param[in] obj The object handle
  * \return The instance ID or 0 if an error
  */
-uint16_t UAVObjCreateInstance(UAVObjHandle obj, UAVObjInitializeCallback initCb)
+uint16_t UAVObjCreateInstance(UAVObjHandle obj,
+			      UAVObjInitializeCallback initCb)
 {
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
 
 	  // Lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Create new instance
-	objEntry = (ObjectList*)obj;
+	  objEntry = (ObjectList *) obj;
 	  instEntry = createInstance(objEntry, objEntry->numInstances);
-	if ( instEntry == NULL )
-	{
+	  if (instEntry == NULL) {
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Initialize instance data
-	if ( initCb != NULL )
-	{
+	  if (initCb != NULL) {
 		    initCb(obj, instEntry->instId);
 	  }
-
 	  // Unlock
 	  xSemaphoreGiveRecursive(mutex);
 	  return instEntry->instId;
@@ -401,7 +403,7 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj, UAVObjInitializeCallback initCb)
  */
 int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
 {
-	return ((ObjectList*)obj)->isSingleInstance;
+	  return ((ObjectList *) obj)->isSingleInstance;
 }
 
 /**
@@ -411,7 +413,7 @@ int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
  */
 int32_t UAVObjIsMetaobject(UAVObjHandle obj)
 {
-	return ((ObjectList*)obj)->isMetaobject;
+	  return ((ObjectList *) obj)->isMetaobject;
 }
 
 /**
@@ -421,7 +423,7 @@ int32_t UAVObjIsMetaobject(UAVObjHandle obj)
  */
 int32_t UAVObjIsSettings(UAVObjHandle obj)
 {
-	return ((ObjectList*)obj)->isSettings;
+	  return ((ObjectList *) obj)->isSettings;
 }
 
 /**
@@ -431,32 +433,30 @@ int32_t UAVObjIsSettings(UAVObjHandle obj)
  * \param[in] dataIn The byte array
  * \return 0 if success or -1 if failure
  */
-int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId, const uint8_t* dataIn)
+int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
+		     const uint8_t * dataIn)
 {
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
 
 	  // Lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Cast handle to object
-	objEntry = (ObjectList*)obj;
+	  objEntry = (ObjectList *) obj;
 
 	  // Get the instance
 	  instEntry = getInstance(objEntry, instId);
 
 	  // If the instance does not exist create it and any other instances before it
-	if ( instEntry == NULL )
-	{
+	  if (instEntry == NULL) {
 		    instEntry = createInstance(objEntry, instId);
-		if ( instEntry == NULL )
-		{
+		    if (instEntry == NULL) {
 			      // Error, unlock and return
 			      xSemaphoreGiveRecursive(mutex);
 			      return -1;
 		    }
 	  }
-
 	  // Set the data
 	  memcpy(instEntry->data, dataIn, objEntry->numBytes);
 
@@ -475,26 +475,24 @@ int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId, const uint8_t* dataIn)
  * \param[out] dataOut The byte array
  * \return 0 if success or -1 if failure
  */
-int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t* dataOut)
+int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
 {
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
 
 	  // Lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Cast handle to object
-	objEntry = (ObjectList*)obj;
+	  objEntry = (ObjectList *) obj;
 
 	  // Get the instance
 	  instEntry = getInstance(objEntry, instId);
-	if ( instEntry == NULL )
-	{
+	  if (instEntry == NULL) {
 		    // Error, unlock and return
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Pack data
 	  memcpy(dataOut, instEntry->data, objEntry->numBytes);
 
@@ -512,50 +510,46 @@ int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t* dataOut)
  * @param[in] file File to append to
  * @return 0 if success or -1 if failure
  */
-int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
+int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
+			 FILEINFO * file)
 {
 #if defined(PIOS_INCLUDE_SDCARD)
 	  uint32_t bytesWritten;
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
 
 	  // Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
-	{
+	  if (PIOS_SDCARD_IsMounted() == 0) {
 		    return -1;
 	  }
-
 	  // Lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Cast to object
-	objEntry = (ObjectList*)obj;
+	  objEntry = (ObjectList *) obj;
 
 	  // Get the instance information
 	  instEntry = getInstance(objEntry, instId);
-	if ( instEntry == NULL )
-	{
+	  if (instEntry == NULL) {
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Write the object ID
-	PIOS_FWRITE(file,&objEntry->id,sizeof(objEntry->id),&bytesWritten);
+	  PIOS_FWRITE(file, &objEntry->id, sizeof(objEntry->id),
+		      &bytesWritten);
 
 	  // Write the instance ID
-	if (!objEntry->isSingleInstance)
-	{
-		PIOS_FWRITE(file,&instEntry->instId,sizeof(instEntry->instId),&bytesWritten);
+	  if (!objEntry->isSingleInstance) {
+		    PIOS_FWRITE(file, &instEntry->instId,
+				sizeof(instEntry->instId), &bytesWritten);
 	  }
-
 	  // Write the data and check that the write was successful
-	PIOS_FWRITE(file,instEntry->data,objEntry->numBytes,&bytesWritten);
-	if ( bytesWritten != objEntry->numBytes )
-	{
+	  PIOS_FWRITE(file, instEntry->data, objEntry->numBytes,
+		      &bytesWritten);
+	  if (bytesWritten != objEntry->numBytes) {
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Done
 	  xSemaphoreGiveRecursive(mutex);
 #endif /* PIOS_INCLUDE_SDCARD */
@@ -575,57 +569,51 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
 int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
 {
 #if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
-	ObjectList* objEntry = (ObjectList*)obj;
+	  ObjectList *objEntry = (ObjectList *) obj;
 
-	if(objEntry == NULL)
+	  if (objEntry == NULL)
 		    return -1;
 
-	ObjectInstList* instEntry = getInstance(objEntry, instId);
+	  ObjectInstList *instEntry = getInstance(objEntry, instId);
 
-	if(instEntry == NULL)
+	  if (instEntry == NULL)
 		    return -1;
 
-	if(instEntry->data == NULL)
+	  if (instEntry->data == NULL)
 		    return -1;
 
-	if(PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) != 0)
+	  if (PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) != 0)
 		    return -1;
 #endif
 #if defined(PIOS_INCLUDE_SDCARD)
 	  FILEINFO file;
-	ObjectList* objEntry;
+	  ObjectList *objEntry;
 	  uint8_t filename[14];
 
 	  // Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
-	{
+	  if (PIOS_SDCARD_IsMounted() == 0) {
 		    return -1;
 	  }
-
 	  // Lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Cast to object
-	objEntry = (ObjectList*)obj;
+	  objEntry = (ObjectList *) obj;
 
 	  // Get filename
 	  objectFilename(objEntry, filename);
 
 	  // Open file
-	if ( PIOS_FOPEN_WRITE(filename,file) )
-	{
+	  if (PIOS_FOPEN_WRITE(filename, file)) {
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Append object
-	if ( UAVObjSaveToFile(obj, instId, &file) == -1 )
-	{
+	  if (UAVObjSaveToFile(obj, instId, &file) == -1) {
 		    PIOS_FCLOSE(file);
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Done, close file and unlock
 	  PIOS_FCLOSE(file);
 	  xSemaphoreGiveRecursive(mutex);
@@ -638,74 +626,63 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
  * @param[in] file File to read from
  * @return The handle of the object loaded or NULL if a failure
  */
-UAVObjHandle UAVObjLoadFromFile(FILEINFO* file)
+UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
 {
 #if defined(PIOS_INCLUDE_SDCARD)
 	  uint32_t bytesRead;
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
 	  uint32_t objId;
 	  uint16_t instId;
 	  UAVObjHandle obj;
 
 	  // Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
-	{
+	  if (PIOS_SDCARD_IsMounted() == 0) {
 		    return NULL;
 	  }
-
 	  // Lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Read the object ID
-	if ( PIOS_FREAD(file,&objId,sizeof(objId),&bytesRead) )
-	{
+	  if (PIOS_FREAD(file, &objId, sizeof(objId), &bytesRead)) {
 		    xSemaphoreGiveRecursive(mutex);
 		    return NULL;
 	  }
-
 	  // Get the object
 	  obj = UAVObjGetByID(objId);
-	if ( obj == 0 )
-	{
+	  if (obj == 0) {
 		    xSemaphoreGiveRecursive(mutex);
 		    return NULL;
 	  }
-	objEntry = (ObjectList*)obj;
+	  objEntry = (ObjectList *) obj;
 
 	  // Get the instance ID
 	  instId = 0;
-	if ( !objEntry->isSingleInstance )
-	{
-		if ( PIOS_FREAD(file,&instId,sizeof(instId),&bytesRead) )
-		{
+	  if (!objEntry->isSingleInstance) {
+		    if (PIOS_FREAD
+			(file, &instId, sizeof(instId), &bytesRead)) {
 			      xSemaphoreGiveRecursive(mutex);
 			      return NULL;
 		    }
 	  }
-
 	  // Get the instance information
 	  instEntry = getInstance(objEntry, instId);
 
 	  // If the instance does not exist create it and any other instances before it
-	if ( instEntry == NULL )
-	{
+	  if (instEntry == NULL) {
 		    instEntry = createInstance(objEntry, instId);
-		if ( instEntry == NULL )
-		{
+		    if (instEntry == NULL) {
 			      // Error, unlock and return
 			      xSemaphoreGiveRecursive(mutex);
 			      return NULL;
 		    }
 	  }
-
 	  // Read the instance data
-	if ( PIOS_FREAD(file,instEntry->data,objEntry->numBytes,&bytesRead) )
-	{
+	  if (PIOS_FREAD
+	      (file, instEntry->data, objEntry->numBytes, &bytesRead)) {
 		    xSemaphoreGiveRecursive(mutex);
 		    return NULL;
 	  }
-
 	  // Fire event
 	  sendEvent(objEntry, instId, EV_UNPACKED);
 
@@ -728,21 +705,21 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO* file)
 int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
 {
 #if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
-	ObjectList* objEntry = (ObjectList*)obj;
+	  ObjectList *objEntry = (ObjectList *) obj;
 
-	if(objEntry == NULL)
+	  if (objEntry == NULL)
 		    return -1;
 
-	ObjectInstList* instEntry = getInstance(objEntry, instId);
+	  ObjectInstList *instEntry = getInstance(objEntry, instId);
 
-	if(instEntry == NULL)
+	  if (instEntry == NULL)
 		    return -1;
 
-	if(instEntry->data == NULL)
+	  if (instEntry->data == NULL)
 		    return -1;
 
 	  // Fire event on success
-	if(PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
+	  if (PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
 		    sendEvent(objEntry, instId, EV_UNPACKED);
 	  else
 		    return -1;
@@ -750,51 +727,43 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
 
 #if defined(PIOS_INCLUDE_SDCARD)
 	  FILEINFO file;
-	ObjectList* objEntry;
+	  ObjectList *objEntry;
 	  UAVObjHandle loadedObj;
-	ObjectList* loadedObjEntry;
+	  ObjectList *loadedObjEntry;
 	  uint8_t filename[14];
 
 	  // Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
-	{
+	  if (PIOS_SDCARD_IsMounted() == 0) {
 		    return -1;
 	  }
-
 	  // Lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Cast to object
-	objEntry = (ObjectList*)obj;
+	  objEntry = (ObjectList *) obj;
 
 	  // Get filename
 	  objectFilename(objEntry, filename);
 
 	  // Open file
-	if ( PIOS_FOPEN_READ(filename,file) )
-	{
+	  if (PIOS_FOPEN_READ(filename, file)) {
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Load object
 	  loadedObj = UAVObjLoadFromFile(&file);
-	if (loadedObj == 0)
-	{
+	  if (loadedObj == 0) {
 		    PIOS_FCLOSE(file);
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Check that the IDs match
-	loadedObjEntry = (ObjectList*)loadedObj;
-	if ( loadedObjEntry->id != objEntry->id )
-	{
+	  loadedObjEntry = (ObjectList *) loadedObj;
+	  if (loadedObjEntry->id != objEntry->id) {
 		    PIOS_FCLOSE(file);
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Done, close file and unlock
 	  PIOS_FCLOSE(file);
 	  xSemaphoreGiveRecursive(mutex);
@@ -814,20 +783,18 @@ int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
 	  PIOS_FLASHFS_ObjDelete(obj, instId);
 #endif
 #if defined(PIOS_INCLUDE_SDCARD)
-	ObjectList* objEntry;
+	  ObjectList *objEntry;
 	  uint8_t filename[14];
 
 	  // Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
-	{
+	  if (PIOS_SDCARD_IsMounted() == 0) {
 		    return -1;
 	  }
-
 	  // Lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Cast to object
-	objEntry = (ObjectList*)obj;
+	  objEntry = (ObjectList *) obj;
 
 	  // Get filename
 	  objectFilename(objEntry, filename);
@@ -847,20 +814,18 @@ int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
  */
 int32_t UAVObjSaveSettings()
 {
-	ObjectList* objEntry;
+	  ObjectList *objEntry;
 
 	  // Get lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Save all settings objects
-	LL_FOREACH(objList, objEntry)
-	{
+	  LL_FOREACH(objList, objEntry) {
 		    // Check if this is a settings object
-		if ( objEntry->isSettings )
-		{
+		    if (objEntry->isSettings) {
 			      // Save object
-			if ( UAVObjSave( (UAVObjHandle)objEntry, 0 ) == -1 )
-			{
+			      if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
+				  -1) {
 					xSemaphoreGiveRecursive(mutex);
 					return -1;
 			      }
@@ -878,20 +843,18 @@ int32_t UAVObjSaveSettings()
  */
 int32_t UAVObjLoadSettings()
 {
-	ObjectList* objEntry;
+	  ObjectList *objEntry;
 
 	  // Get lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Load all settings objects
-	LL_FOREACH(objList, objEntry)
-	{
+	  LL_FOREACH(objList, objEntry) {
 		    // Check if this is a settings object
-		if ( objEntry->isSettings )
-		{
+		    if (objEntry->isSettings) {
 			      // Load object
-			if ( UAVObjLoad( (UAVObjHandle)objEntry, 0 ) == -1 )
-			{
+			      if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
+				  -1) {
 					xSemaphoreGiveRecursive(mutex);
 					return -1;
 			      }
@@ -909,20 +872,18 @@ int32_t UAVObjLoadSettings()
  */
 int32_t UAVObjDeleteSettings()
 {
-	ObjectList* objEntry;
+	  ObjectList *objEntry;
 
 	  // Get lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Save all settings objects
-	LL_FOREACH(objList, objEntry)
-	{
+	  LL_FOREACH(objList, objEntry) {
 		    // Check if this is a settings object
-		if ( objEntry->isSettings )
-		{
+		    if (objEntry->isSettings) {
 			      // Save object
-			if ( UAVObjDelete( (UAVObjHandle)objEntry, 0 ) == -1 )
-			{
+			      if (UAVObjDelete((UAVObjHandle) objEntry, 0)
+				  == -1) {
 					xSemaphoreGiveRecursive(mutex);
 					return -1;
 			      }
@@ -940,20 +901,18 @@ int32_t UAVObjDeleteSettings()
  */
 int32_t UAVObjSaveMetaobjects()
 {
-	ObjectList* objEntry;
+	  ObjectList *objEntry;
 
 	  // Get lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Save all settings objects
-	LL_FOREACH(objList, objEntry)
-	{
+	  LL_FOREACH(objList, objEntry) {
 		    // Check if this is a settings object
-		if ( objEntry->isMetaobject )
-		{
+		    if (objEntry->isMetaobject) {
 			      // Save object
-			if ( UAVObjSave( (UAVObjHandle)objEntry, 0 ) == -1 )
-			{
+			      if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
+				  -1) {
 					xSemaphoreGiveRecursive(mutex);
 					return -1;
 			      }
@@ -971,20 +930,18 @@ int32_t UAVObjSaveMetaobjects()
  */
 int32_t UAVObjLoadMetaobjects()
 {
-	ObjectList* objEntry;
+	  ObjectList *objEntry;
 
 	  // Get lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Load all settings objects
-	LL_FOREACH(objList, objEntry)
-	{
+	  LL_FOREACH(objList, objEntry) {
 		    // Check if this is a settings object
-		if ( objEntry->isMetaobject )
-		{
+		    if (objEntry->isMetaobject) {
 			      // Load object
-			if ( UAVObjLoad( (UAVObjHandle)objEntry, 0 ) == -1 )
-			{
+			      if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
+				  -1) {
 					xSemaphoreGiveRecursive(mutex);
 					return -1;
 			      }
@@ -1002,20 +959,18 @@ int32_t UAVObjLoadMetaobjects()
  */
 int32_t UAVObjDeleteMetaobjects()
 {
-	ObjectList* objEntry;
+	  ObjectList *objEntry;
 
 	  // Get lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Load all settings objects
-	LL_FOREACH(objList, objEntry)
-	{
+	  LL_FOREACH(objList, objEntry) {
 		    // Check if this is a settings object
-		if ( objEntry->isMetaobject )
-		{
+		    if (objEntry->isMetaobject) {
 			      // Load object
-			if ( UAVObjDelete( (UAVObjHandle)objEntry, 0 ) == -1 )
-			{
+			      if (UAVObjDelete((UAVObjHandle) objEntry, 0)
+				  == -1) {
 					xSemaphoreGiveRecursive(mutex);
 					return -1;
 			      }
@@ -1033,7 +988,7 @@ int32_t UAVObjDeleteMetaobjects()
  * \param[in] dataIn The object's data structure
  * \return 0 if success or -1 if failure
  */
-int32_t UAVObjSetData(UAVObjHandle obj, const void* dataIn)
+int32_t UAVObjSetData(UAVObjHandle obj, const void *dataIn)
 {
 	  return UAVObjSetInstanceData(obj, 0, dataIn);
 }
@@ -1044,7 +999,7 @@ int32_t UAVObjSetData(UAVObjHandle obj, const void* dataIn)
  * \param[out] dataOut The object's data structure
  * \return 0 if success or -1 if failure
  */
-int32_t UAVObjGetData(UAVObjHandle obj, void* dataOut)
+int32_t UAVObjGetData(UAVObjHandle obj, void *dataOut)
 {
 	  return UAVObjGetInstanceData(obj, 0, dataOut);
 }
@@ -1056,38 +1011,36 @@ int32_t UAVObjGetData(UAVObjHandle obj, void* dataOut)
  * \param[in] dataIn The object's data structure
  * \return 0 if success or -1 if failure
  */
-int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dataIn)
+int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
+			      const void *dataIn)
 {
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
-	UAVObjMetadata* mdata;
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
+	  UAVObjMetadata *mdata;
 
 	  // Lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Cast to object info
-	objEntry = (ObjectList*)obj;
+	  objEntry = (ObjectList *) obj;
 
 	  // Check access level
-	if ( !objEntry->isMetaobject )
-	{
-		mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
-		if ( mdata->access == ACCESS_READONLY )
-		{
+	  if (!objEntry->isMetaobject) {
+		    mdata =
+			(UAVObjMetadata *) (objEntry->linkedObj->instances.
+					    data);
+		    if (mdata->access == ACCESS_READONLY) {
 			      xSemaphoreGiveRecursive(mutex);
 			      return -1;
 		    }
 	  }
-
 	  // Get instance information
 	  instEntry = getInstance(objEntry, instId);
-	if ( instEntry == NULL )
-	{
+	  if (instEntry == NULL) {
 		    // Error, unlock and return
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Set data
 	  memcpy(instEntry->data, dataIn, objEntry->numBytes);
 
@@ -1106,26 +1059,25 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dat
  * \param[out] dataOut The object's data structure
  * \return 0 if success or -1 if failure
  */
-int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId, void* dataOut)
+int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
+			      void *dataOut)
 {
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
 
 	  // Lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Cast to object info
-	objEntry = (ObjectList*)obj;
+	  objEntry = (ObjectList *) obj;
 
 	  // Get instance information
 	  instEntry = getInstance(objEntry, instId);
-	if ( instEntry == NULL )
-	{
+	  if (instEntry == NULL) {
 		    // Error, unlock and return
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Set data
 	  memcpy(dataOut, instEntry->data, objEntry->numBytes);
 
@@ -1140,21 +1092,19 @@ int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId, void* dataOut)
  * \param[in] dataIn The object's metadata structure
  * \return 0 if success or -1 if failure
  */
-int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata* dataIn)
+int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
 {
-	ObjectList* objEntry;
+	  ObjectList *objEntry;
 
 	  // Lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Set metadata (metadata of metaobjects can not be modified)
-	objEntry = (ObjectList*)obj;
-	if (!objEntry->isMetaobject)
-	{
-		UAVObjSetData((UAVObjHandle)objEntry->linkedObj, dataIn);
-	}
-	else
-	{
+	  objEntry = (ObjectList *) obj;
+	  if (!objEntry->isMetaobject) {
+		    UAVObjSetData((UAVObjHandle) objEntry->linkedObj,
+				  dataIn);
+	  } else {
 		    return -1;
 	  }
 
@@ -1169,22 +1119,20 @@ int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata* dataIn)
  * \param[out] dataOut The object's metadata structure
  * \return 0 if success or -1 if failure
  */
-int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata* dataOut)
+int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
 {
-	ObjectList* objEntry;
+	  ObjectList *objEntry;
 
 	  // Lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Get metadata
-	objEntry = (ObjectList*)obj;
-	if (objEntry->isMetaobject)
-	{
+	  objEntry = (ObjectList *) obj;
+	  if (objEntry->isMetaobject) {
 		    memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
-	}
-	else
-	{
-		UAVObjGetData((UAVObjHandle)objEntry->linkedObj, dataOut);
+	  } else {
+		    UAVObjGetData((UAVObjHandle) objEntry->linkedObj,
+				  dataOut);
 	  }
 
 	  // Unlock
@@ -1202,16 +1150,17 @@ int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata* dataOut)
  */
 int8_t UAVObjReadOnly(UAVObjHandle obj)
 {
-    ObjectList* objEntry;
-    UAVObjMetadata* mdata;
+	  ObjectList *objEntry;
+	  UAVObjMetadata *mdata;
 
 	  // Cast to object info
-    objEntry = (ObjectList*)obj;
+	  objEntry = (ObjectList *) obj;
 
 	  // Check access level
-    if ( !objEntry->isMetaobject )
-    {
-        mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
+	  if (!objEntry->isMetaobject) {
+		    mdata =
+			(UAVObjMetadata *) (objEntry->linkedObj->instances.
+					    data);
 		    return mdata->access == ACCESS_READONLY;
 	  }
 	  return -1;
@@ -1225,7 +1174,8 @@ int8_t UAVObjReadOnly(UAVObjHandle obj)
  * \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
  * \return 0 if success or -1 if failure
  */
-int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, int32_t eventMask)
+int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue,
+			   int32_t eventMask)
 {
 	  int32_t res;
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@@ -1257,7 +1207,8 @@ int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
  * \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
  * \return 0 if success or -1 if failure
  */
-int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, int32_t eventMask)
+int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb,
+			      int32_t eventMask)
 {
 	  int32_t res;
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@@ -1281,7 +1232,6 @@ int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb)
 	  return res;
 }
 
-
 /**
  * Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
  * will be generated as soon as the object is updated.
@@ -1301,7 +1251,7 @@ void UAVObjRequestUpdate(UAVObjHandle obj)
 void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId)
 {
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	sendEvent((ObjectList*)obj, instId, EV_UPDATE_REQ);
+	  sendEvent((ObjectList *) obj, instId, EV_UPDATE_REQ);
 	  xSemaphoreGiveRecursive(mutex);
 }
 
@@ -1322,7 +1272,7 @@ void UAVObjUpdated(UAVObjHandle obj)
 void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
 {
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	sendEvent((ObjectList*)obj, instId, EV_UPDATED_MANUAL);
+	  sendEvent((ObjectList *) obj, instId, EV_UPDATED_MANUAL);
 	  xSemaphoreGiveRecursive(mutex);
 }
 
@@ -1331,17 +1281,16 @@ void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
  * \param iterator This function will be called once for each object,
  * the object will be passed as a parameter
  */
-void UAVObjIterate(void (*iterator)(UAVObjHandle obj))
+void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
 {
-	ObjectList* objEntry;
+	  ObjectList *objEntry;
 
 	  // Get lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Iterate through the list and invoke iterator for each object
-	LL_FOREACH(objList, objEntry)
-	{
-		(*iterator)((UAVObjHandle)objEntry);
+	  LL_FOREACH(objList, objEntry) {
+		    (*iterator) ((UAVObjHandle) objEntry);
 	  }
 
 	  // Release lock
@@ -1351,33 +1300,31 @@ void UAVObjIterate(void (*iterator)(UAVObjHandle obj))
 /**
  * Send an event to all event queues registered on the object.
  */
-static int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event)
+static int32_t sendEvent(ObjectList * obj, uint16_t instId,
+			 UAVObjEventType event)
 {
-	ObjectEventList* eventEntry;
+	  ObjectEventList *eventEntry;
 	  UAVObjEvent msg;
 
 	  // Setup event
-	msg.obj = (UAVObjHandle)obj;
+	  msg.obj = (UAVObjHandle) obj;
 	  msg.event = event;
 	  msg.instId = instId;
 
 	  // Go through each object and push the event message in the queue (if event is activated for the queue)
-	LL_FOREACH(obj->events, eventEntry)
-	{
-    	if ( eventEntry->eventMask == 0 || (eventEntry->eventMask & event) != 0 )
-    	{
+	  LL_FOREACH(obj->events, eventEntry) {
+		    if (eventEntry->eventMask == 0
+			|| (eventEntry->eventMask & event) != 0) {
 			      // Send to queue if a valid queue is registered
-    		if (eventEntry->queue != 0)
-    		{
-    			if ( xQueueSend(eventEntry->queue, &msg, 0) != pdTRUE ) // will not block
+			      if (eventEntry->queue != 0) {
+					if (xQueueSend(eventEntry->queue, &msg, 0) != pdTRUE)	// will not block
 					{
 						  ++stats.eventErrors;
 					}
 			      }
 			      // Invoke callback (from event task) if a valid one is registered
-    		if (eventEntry->cb != 0)
-    		{
-    			if ( EventCallbackDispatch(&msg, eventEntry->cb) != pdTRUE ) // invoke callback from the event task, will not block
+			      if (eventEntry->cb != 0) {
+					if (EventCallbackDispatch(&msg, eventEntry->cb) != pdTRUE)	// invoke callback from the event task, will not block
 					{
 						  ++stats.eventErrors;
 					}
@@ -1392,52 +1339,47 @@ static int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event
 /**
  * Create a new object instance, return the instance info or NULL if failure.
  */
-static ObjectInstList* createInstance(ObjectList* obj, uint16_t instId)
+static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId)
 {
-	ObjectInstList* instEntry;
+	  ObjectInstList *instEntry;
 	  int32_t n;
 
 	  // For single instance objects, only instance zero is allowed
-	if (obj->isSingleInstance && instId != 0)
-	{
+	  if (obj->isSingleInstance && instId != 0) {
 		    return NULL;
 	  }
-
 	  // Make sure that the instance ID is within limits
-	if (instId >= UAVOBJ_MAX_INSTANCES)
-	{
+	  if (instId >= UAVOBJ_MAX_INSTANCES) {
 		    return NULL;
 	  }
-
 	  // Check if the instance already exists
-	if ( getInstance(obj, instId) != NULL )
-	{
+	  if (getInstance(obj, instId) != NULL) {
 		    return NULL;
 	  }
-
 	  // Create any missing instances (all instance IDs must be sequential)
-	for (n = obj->numInstances; n < instId; ++n)
-	{
-		if ( createInstance(obj, n) == NULL )
-		{
+	  for (n = obj->numInstances; n < instId; ++n) {
+		    if (createInstance(obj, n) == NULL) {
 			      return NULL;
 		    }
 	  }
 
-	if(instId == 0)  /* Instance 0 ObjectInstList allocated with ObjectList element */
-	{		
+	  if (instId == 0) {	/* Instance 0 ObjectInstList allocated with ObjectList element */
 		    instEntry = &obj->instances;
 		    instEntry->data = pvPortMalloc(obj->numBytes);
-		if (instEntry->data == NULL) return NULL;
+		    if (instEntry->data == NULL)
+			      return NULL;
 		    memset(instEntry->data, 0, obj->numBytes);
 		    instEntry->instId = instId;
-	} else 
-	{	
+	  } else {
 		    // Create the actual instance
-		instEntry = (ObjectInstList*)pvPortMalloc(sizeof(ObjectInstList));
-		if (instEntry == NULL) return NULL;
+		    instEntry =
+			(ObjectInstList *)
+			pvPortMalloc(sizeof(ObjectInstList));
+		    if (instEntry == NULL)
+			      return NULL;
 		    instEntry->data = pvPortMalloc(obj->numBytes);
-		if (instEntry->data == NULL) return NULL;
+		    if (instEntry->data == NULL)
+			      return NULL;
 		    memset(instEntry->data, 0, obj->numBytes);
 		    instEntry->instId = instId;
 		    LL_APPEND(obj->instances.next, instEntry);
@@ -1445,7 +1387,7 @@ static ObjectInstList* createInstance(ObjectList* obj, uint16_t instId)
 	  ++obj->numInstances;
 
 	  // Fire event
-	UAVObjInstanceUpdated((UAVObjHandle)obj, instId);
+	  UAVObjInstanceUpdated((UAVObjHandle) obj, instId);
 
 	  // Done
 	  return instEntry;
@@ -1454,15 +1396,13 @@ static ObjectInstList* createInstance(ObjectList* obj, uint16_t instId)
 /**
  * Get the instance information or NULL if the instance does not exist
  */
-static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId)
+static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId)
 {
-	ObjectInstList* instEntry;
+	  ObjectInstList *instEntry;
 
 	  // Look for specified instance ID
-	LL_FOREACH(&(obj->instances), instEntry)
-	{
-		if (instEntry->instId == instId)
-		{
+	  LL_FOREACH(&(obj->instances), instEntry) {
+		    if (instEntry->instId == instId) {
 			      return instEntry;
 		    }
 	  }
@@ -1478,17 +1418,16 @@ static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId)
  * \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
  * \return 0 if success or -1 if failure
  */
-static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb, int32_t eventMask)
+static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
+			  UAVObjEventCallback cb, int32_t eventMask)
 {
-	ObjectEventList* eventEntry;
-	ObjectList* objEntry;
+	  ObjectEventList *eventEntry;
+	  ObjectList *objEntry;
 
 	  // Check that the queue is not already connected, if it is simply update event mask
-	objEntry = (ObjectList*)obj;
-	LL_FOREACH(objEntry->events, eventEntry)
-	{
-		if ( eventEntry->queue == queue && eventEntry->cb == cb )
-		{
+	  objEntry = (ObjectList *) obj;
+	  LL_FOREACH(objEntry->events, eventEntry) {
+		    if (eventEntry->queue == queue && eventEntry->cb == cb) {
 			      // Already connected, update event mask and return
 			      eventEntry->eventMask = eventMask;
 			      return 0;
@@ -1496,9 +1435,9 @@ static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallb
 	  }
 
 	  // Add queue to list
-	eventEntry = (ObjectEventList*)pvPortMalloc(sizeof(ObjectEventList));
-	if (eventEntry == NULL)
-	{
+	  eventEntry =
+	      (ObjectEventList *) pvPortMalloc(sizeof(ObjectEventList));
+	  if (eventEntry == NULL) {
 		    return -1;
 	  }
 	  eventEntry->queue = queue;
@@ -1517,17 +1456,17 @@ static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallb
  * \param[in] cb The event callback
  * \return 0 if success or -1 if failure
  */
-static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb)
+static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
+			     UAVObjEventCallback cb)
 {
-	ObjectEventList* eventEntry;
-	ObjectList* objEntry;
+	  ObjectEventList *eventEntry;
+	  ObjectList *objEntry;
 
 	  // Find queue and remove it
-	objEntry = (ObjectList*)obj;
-	LL_FOREACH(objEntry->events, eventEntry)
-	{
-		if ( ( eventEntry->queue == queue && eventEntry->cb == cb ) )
-		{
+	  objEntry = (ObjectList *) obj;
+	  LL_FOREACH(objEntry->events, eventEntry) {
+		    if ((eventEntry->queue == queue
+			 && eventEntry->cb == cb)) {
 			      LL_DELETE(objEntry->events, eventEntry);
 			      vPortFree(eventEntry);
 			      return 0;
@@ -1542,7 +1481,7 @@ static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCa
 /**
  * Wrapper for the sprintf function
  */
-static void customSPrintf(uint8_t* buffer, uint8_t* format, ...)
+static void customSPrintf(uint8_t * buffer, uint8_t * format, ...)
 {
 	  va_list args;
 	  va_start(args, format);
@@ -1552,24 +1491,8 @@ static void customSPrintf(uint8_t* buffer, uint8_t* format, ...)
 /**
  * Get an 8 character (plus extension) filename for the object.
  */
-static void objectFilename(ObjectList* obj, uint8_t* filename)
+static void objectFilename(ObjectList * obj, uint8_t * filename)
 {
-	customSPrintf(filename, (uint8_t*)"%X.obj", obj->id);
+	  customSPrintf(filename, (uint8_t *) "%X.obj", obj->id);
 }
 #endif /* PIOS_INCLUDE_SDCARD */
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-