Rohan

Line 52: Each assertion here will throw an error if input type is not valid. For example, version must be a number Line 61: Here we are calculating number of...

As per the style guide https://ardupilot.org/dev/docs/style-guide.html , control statements (if, while, do, else) should always use braces around the statements. This can be implemented by setting add-brackets option to true.