diff --git a/flight/modules/PathPlanner/pathplanner.c b/flight/modules/PathPlanner/pathplanner.c
index 93e664b85..6c548b6b7 100644
--- a/flight/modules/PathPlanner/pathplanner.c
+++ b/flight/modules/PathPlanner/pathplanner.c
@@ -265,8 +265,9 @@ static uint8_t checkPathPlan()
     uint16_t actionCount;
     uint8_t pathCrc;
     PathPlanData pathPlan;
-    //WaypointData waypoint; // using global instead (?)
-    //PathActionData action; // using global instead (?)
+
+    // WaypointData waypoint; // using global instead (?)
+    // PathActionData action; // using global instead (?)
 
     PathPlanGet(&pathPlan);
 
@@ -275,15 +276,15 @@ static uint8_t checkPathPlan()
         // an empty path plan is invalid
         return false;
     }
-    actionCount   = pathPlan.PathActionCount;
+    actionCount = pathPlan.PathActionCount;
 
     // check count consistency
     if (waypointCount > UAVObjGetNumInstances(WaypointHandle())) {
-        //PIOS_DEBUGLOG_Printf("PathPlan : waypoint count error!");
+        // PIOS_DEBUGLOG_Printf("PathPlan : waypoint count error!");
         return false;
     }
     if (actionCount > UAVObjGetNumInstances(PathActionHandle())) {
-        //PIOS_DEBUGLOG_Printf("PathPlan : path action count error!");
+        // PIOS_DEBUGLOG_Printf("PathPlan : path action count error!");
         return false;
     }
 
@@ -297,7 +298,7 @@ static uint8_t checkPathPlan()
     }
     if (pathCrc != pathPlan.Crc) {
         // failed crc check
-        //PIOS_DEBUGLOG_Printf("PathPlan : bad CRC (%d / %d)!", pathCrc, pathPlan.Crc);
+        // PIOS_DEBUGLOG_Printf("PathPlan : bad CRC (%d / %d)!", pathCrc, pathPlan.Crc);
         return false;
     }
 
diff --git a/flight/modules/RadioComBridge/RadioComBridge.c b/flight/modules/RadioComBridge/RadioComBridge.c
index f913ab672..22341a771 100644
--- a/flight/modules/RadioComBridge/RadioComBridge.c
+++ b/flight/modules/RadioComBridge/RadioComBridge.c
@@ -1,5 +1,6 @@
 /**
  ******************************************************************************
+
  * @addtogroup OpenPilotModules OpenPilot Modules
  * @{
  * @addtogroup RadioComBridgeModule Com Port to Radio Bridge Module
@@ -133,9 +134,9 @@ static int32_t RadioComBridgeStart(void)
         data->isCoordinator = (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE);
 
         // We will not parse/send UAVTalk if any ports are configured as Serial (except for over the USB HID port).
-        data->parseUAVTalk = ((oplinkSettings.MainPort != OPLINKSETTINGS_MAINPORT_SERIAL) &&
-                              (oplinkSettings.FlexiPort != OPLINKSETTINGS_FLEXIPORT_SERIAL) &&
-                              (oplinkSettings.VCPPort != OPLINKSETTINGS_VCPPORT_SERIAL));
+        data->parseUAVTalk  = ((oplinkSettings.MainPort != OPLINKSETTINGS_MAINPORT_SERIAL) &&
+                               (oplinkSettings.FlexiPort != OPLINKSETTINGS_FLEXIPORT_SERIAL) &&
+                               (oplinkSettings.VCPPort != OPLINKSETTINGS_VCPPORT_SERIAL));
 
         // Set the maximum radio RF power.
         switch (oplinkSettings.MaxRFPower) {
@@ -236,20 +237,20 @@ static int32_t RadioComBridgeInitialize(void)
     RadioComBridgeStatsInitialize();
 
     // Initialise UAVTalk
-    data->telemUAVTalkCon   = UAVTalkInitialize(&UAVTalkSendHandler);
-    data->radioUAVTalkCon   = UAVTalkInitialize(&RadioSendHandler);
+    data->telemUAVTalkCon    = UAVTalkInitialize(&UAVTalkSendHandler);
+    data->radioUAVTalkCon    = UAVTalkInitialize(&RadioSendHandler);
 
     // Initialize the queues.
-    data->uavtalkEventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(UAVObjEvent));
-    data->radioEventQueue   = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(UAVObjEvent));
+    data->uavtalkEventQueue  = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(UAVObjEvent));
+    data->radioEventQueue    = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(UAVObjEvent));
 
     // Initialize the statistics.
-    data->telemetryTxRetries  = 0;
-    data->radioTxRetries  = 0;
+    data->telemetryTxRetries = 0;
+    data->radioTxRetries     = 0;
 
-    data->parseUAVTalk  = true;
-    data->comSpeed = OPLINKSETTINGS_COMSPEED_9600;
-    PIOS_COM_RADIO = PIOS_COM_RFM22B;
+    data->parseUAVTalk = true;
+    data->comSpeed     = OPLINKSETTINGS_COMSPEED_9600;
+    PIOS_COM_RADIO     = PIOS_COM_RFM22B;
 
     return 0;
 }
@@ -264,13 +265,14 @@ static void registerObject(UAVObjHandle obj)
 {
     // Setup object for periodic updates
     UAVObjEvent ev = {
-            .obj    = obj,
-            .instId = UAVOBJ_ALL_INSTANCES,
-            .event  = EV_UPDATED_PERIODIC,
+        .obj    = obj,
+        .instId = UAVOBJ_ALL_INSTANCES,
+        .event  = EV_UPDATED_PERIODIC,
     };
 
     // Get metadata
     UAVObjMetadata metadata;
+
     UAVObjGetMetadata(obj, &metadata);
 
     EventPeriodicQueueCreate(&ev, data->uavtalkEventQueue, metadata.telemetryUpdatePeriod);
@@ -298,23 +300,23 @@ static void updateRadioComBridgeStats()
     RadioComBridgeStatsGet(&radioComBridgeStats);
 
     // Update stats object
-    radioComBridgeStats.TelemetryTxBytes += telemetryUAVTalkStats.txBytes;
-    radioComBridgeStats.TelemetryTxFailures += telemetryUAVTalkStats.txErrors;
-    radioComBridgeStats.TelemetryTxRetries  += data->telemetryTxRetries;
+    radioComBridgeStats.TelemetryTxBytes      += telemetryUAVTalkStats.txBytes;
+    radioComBridgeStats.TelemetryTxFailures   += telemetryUAVTalkStats.txErrors;
+    radioComBridgeStats.TelemetryTxRetries    += data->telemetryTxRetries;
 
-    radioComBridgeStats.TelemetryRxBytes += telemetryUAVTalkStats.rxBytes;
-    radioComBridgeStats.TelemetryRxFailures += telemetryUAVTalkStats.rxErrors;
+    radioComBridgeStats.TelemetryRxBytes      += telemetryUAVTalkStats.rxBytes;
+    radioComBridgeStats.TelemetryRxFailures   += telemetryUAVTalkStats.rxErrors;
     radioComBridgeStats.TelemetryRxSyncErrors += telemetryUAVTalkStats.rxSyncErrors;
-    radioComBridgeStats.TelemetryRxCrcErrors += telemetryUAVTalkStats.rxCrcErrors;
+    radioComBridgeStats.TelemetryRxCrcErrors  += telemetryUAVTalkStats.rxCrcErrors;
 
-    radioComBridgeStats.RadioTxBytes += radioUAVTalkStats.txBytes;
-    radioComBridgeStats.RadioTxFailures += radioUAVTalkStats.txErrors;
-    radioComBridgeStats.RadioTxRetries  += data->radioTxRetries;
+    radioComBridgeStats.RadioTxBytes      += radioUAVTalkStats.txBytes;
+    radioComBridgeStats.RadioTxFailures   += radioUAVTalkStats.txErrors;
+    radioComBridgeStats.RadioTxRetries    += data->radioTxRetries;
 
-    radioComBridgeStats.RadioRxBytes += radioUAVTalkStats.rxBytes;
-    radioComBridgeStats.RadioRxFailures += radioUAVTalkStats.rxErrors;
+    radioComBridgeStats.RadioRxBytes      += radioUAVTalkStats.rxBytes;
+    radioComBridgeStats.RadioRxFailures   += radioUAVTalkStats.rxErrors;
     radioComBridgeStats.RadioRxSyncErrors += radioUAVTalkStats.rxSyncErrors;
-    radioComBridgeStats.RadioRxCrcErrors += radioUAVTalkStats.rxCrcErrors;
+    radioComBridgeStats.RadioRxCrcErrors  += radioUAVTalkStats.rxCrcErrors;
 
     // Update stats object data
     RadioComBridgeStatsSet(&radioComBridgeStats);
diff --git a/flight/modules/Telemetry/telemetry.c b/flight/modules/Telemetry/telemetry.c
index 443112773..ef1ab9ea4 100644
--- a/flight/modules/Telemetry/telemetry.c
+++ b/flight/modules/Telemetry/telemetry.c
@@ -182,16 +182,6 @@ static void registerObject(UAVObjHandle obj)
         UAVObjConnectQueue(obj, priorityQueue, EV_MASK_ALL_UPDATES);
     } else {
         // Setup object for periodic updates
-//        UAVObjEvent ev = {
-//            .obj    = obj,
-//            .instId = UAVOBJ_ALL_INSTANCES,
-//            .event  = EV_UPDATED_PERIODIC,
-//        };
-//        EventPeriodicQueueCreate(&ev, queue, 0);
-//        ev.event = EV_LOGGING_PERIODIC;
-//        EventPeriodicQueueCreate(&ev, queue, 0);
-
-        // Setup object for telemetry updates
         updateObject(obj, EV_NONE);
     }
 }
@@ -312,8 +302,8 @@ static void processObjEvent(UAVObjEvent *ev)
         retries    = 0;
         success    = -1;
         if ((ev->event == EV_UPDATED && (updateMode == UPDATEMODE_ONCHANGE || updateMode == UPDATEMODE_THROTTLED))
-                || ev->event == EV_UPDATED_MANUAL
-                || (ev->event == EV_UPDATED_PERIODIC && updateMode != UPDATEMODE_THROTTLED)) {
+            || ev->event == EV_UPDATED_MANUAL
+            || (ev->event == EV_UPDATED_PERIODIC && updateMode != UPDATEMODE_THROTTLED)) {
             // Send update to GCS (with retries)
             while (retries < MAX_RETRIES && success == -1) {
                 // call blocks until ack is received or timeout
@@ -357,8 +347,8 @@ static void processObjEvent(UAVObjEvent *ev)
     if (ev->obj) {
         updateMode = UAVObjGetLoggingUpdateMode(&metadata);
         if ((ev->event == EV_UPDATED && (updateMode == UPDATEMODE_ONCHANGE || updateMode == UPDATEMODE_THROTTLED))
-                || ev->event == EV_LOGGING_MANUAL
-                || (ev->event == EV_LOGGING_PERIODIC && updateMode != UPDATEMODE_THROTTLED)) {
+            || ev->event == EV_LOGGING_MANUAL
+            || (ev->event == EV_LOGGING_PERIODIC && updateMode != UPDATEMODE_THROTTLED)) {
             if (ev->instId == UAVOBJ_ALL_INSTANCES) {
                 success = UAVObjGetNumInstances(ev->obj);
                 for (retries = 0; retries < success; retries++) {
@@ -572,33 +562,33 @@ static void updateTelemetryStats()
 
     // Update stats object
     if (flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
-        flightStats.TxDataRate  = (float)utalkStats.txBytes / ((float)STATS_UPDATE_PERIOD_MS / 1000.0f);
-        flightStats.TxBytes += utalkStats.txBytes;
-        flightStats.TxFailures += txErrors;
-        flightStats.TxRetries  += txRetries;
+        flightStats.TxDataRate    = (float)utalkStats.txBytes / ((float)STATS_UPDATE_PERIOD_MS / 1000.0f);
+        flightStats.TxBytes      += utalkStats.txBytes;
+        flightStats.TxFailures   += txErrors;
+        flightStats.TxRetries    += txRetries;
 
-        flightStats.RxDataRate  = (float)utalkStats.rxBytes / ((float)STATS_UPDATE_PERIOD_MS / 1000.0f);
-        flightStats.RxBytes += utalkStats.rxBytes;
-        flightStats.RxFailures += utalkStats.rxErrors;
+        flightStats.RxDataRate    = (float)utalkStats.rxBytes / ((float)STATS_UPDATE_PERIOD_MS / 1000.0f);
+        flightStats.RxBytes      += utalkStats.rxBytes;
+        flightStats.RxFailures   += utalkStats.rxErrors;
         flightStats.RxSyncErrors += utalkStats.rxSyncErrors;
-        flightStats.RxCrcErrors += utalkStats.rxCrcErrors;
+        flightStats.RxCrcErrors  += utalkStats.rxCrcErrors;
     } else {
-        flightStats.TxDataRate = 0;
-        flightStats.TxBytes = 0;
-        flightStats.TxFailures = 0;
-        flightStats.TxRetries  = 0;
+        flightStats.TxDataRate   = 0;
+        flightStats.TxBytes      = 0;
+        flightStats.TxFailures   = 0;
+        flightStats.TxRetries    = 0;
 
-        flightStats.RxDataRate = 0;
-        flightStats.RxBytes = 0;
-        flightStats.RxFailures = 0;
+        flightStats.RxDataRate   = 0;
+        flightStats.RxBytes      = 0;
+        flightStats.RxFailures   = 0;
         flightStats.RxSyncErrors = 0;
-        flightStats.RxCrcErrors = 0;
+        flightStats.RxCrcErrors  = 0;
     }
-    txErrors = 0;
+    txErrors  = 0;
     txRetries = 0;
 
     // Check for connection timeout
-    timeNow = xTaskGetTickCount() * portTICK_RATE_MS;
+    timeNow   = xTaskGetTickCount() * portTICK_RATE_MS;
     if (utalkStats.rxObjects > 0) {
         timeOfLastObjectUpdate = timeNow;
     }
diff --git a/flight/uavobjects/uavobjectmanager.c b/flight/uavobjects/uavobjectmanager.c
index bf5d52a80..f5077c982 100644
--- a/flight/uavobjects/uavobjectmanager.c
+++ b/flight/uavobjects/uavobjectmanager.c
@@ -732,7 +732,7 @@ uint8_t UAVObjUpdateCRC(UAVObjHandle obj_handle, uint16_t instId, uint8_t crc)
             goto unlock_exit;
         }
         // Update crc
-        crc = PIOS_CRC_updateCRC(crc, (uint8_t *) InstanceData(instEntry), (int32_t) obj->instance_size);
+        crc = PIOS_CRC_updateCRC(crc, (uint8_t *)InstanceData(instEntry), (int32_t)obj->instance_size);
     }
 
 unlock_exit:
diff --git a/flight/uavtalk/inc/uavtalk.h b/flight/uavtalk/inc/uavtalk.h
index 9a346be3a..e54231735 100644
--- a/flight/uavtalk/inc/uavtalk.h
+++ b/flight/uavtalk/inc/uavtalk.h
@@ -44,7 +44,6 @@ typedef struct {
     uint32_t rxErrors;
     uint32_t rxSyncErrors;
     uint32_t rxCrcErrors;
-
 } UAVTalkStats;
 
 typedef void *UAVTalkConnection;
diff --git a/flight/uavtalk/inc/uavtalk_priv.h b/flight/uavtalk/inc/uavtalk_priv.h
index c7cab8d9e..73354845a 100644
--- a/flight/uavtalk/inc/uavtalk_priv.h
+++ b/flight/uavtalk/inc/uavtalk_priv.h
@@ -34,10 +34,10 @@
 // Private types and constants
 
 // min header : sync(1), type (1), size(2), object ID(4), instance ID(2)
-#define UAVTALK_MIN_HEADER_LENGTH 10
+#define UAVTALK_MIN_HEADER_LENGTH  10
 
 // max header : sync(1), type (1), size(2), object ID(4), instance ID(2), timestamp(2)
-#define UAVTALK_MAX_HEADER_LENGTH 12
+#define UAVTALK_MAX_HEADER_LENGTH  12
 
 #define UAVTALK_CHECKSUM_LENGTH    1
 
@@ -47,11 +47,11 @@
 #define UAVTALK_MAX_PACKET_LENGTH  UAVTALK_MIN_PACKET_LENGTH + UAVTALK_MAX_PAYLOAD_LENGTH
 
 typedef struct {
-    uint8_t type;
-    uint16_t     packet_size;
-    uint32_t     objId;
-    uint16_t     instId;
-    uint32_t     length;
+    uint8_t  type;
+    uint16_t packet_size;
+    uint32_t objId;
+    uint16_t instId;
+    uint32_t length;
     uint8_t  timestampLength;
     uint8_t  cs;
     uint16_t timestamp;
diff --git a/flight/uavtalk/uavtalk.c b/flight/uavtalk/uavtalk.c
index f4909aca7..0f9dd3d0e 100644
--- a/flight/uavtalk/uavtalk.c
+++ b/flight/uavtalk/uavtalk.c
@@ -32,13 +32,13 @@
 #include "openpilot.h"
 #include "uavtalk_priv.h"
 
-//#define UAV_DEBUGLOG 1
+// #define UAV_DEBUGLOG 1
 
 #if defined UAV_DEBUGLOG && defined FLASH_FREERTOS
 #define UAVT_DEBUGLOG_PRINTF(...) PIOS_DEBUGLOG_Printf(__VA_ARGS__)
 // uncomment and adapt the following lines to filter verbose logging to include specific object(s) only
-//#include "flighttelemetrystats.h"
-//#define UAVT_DEBUGLOG_CPRINTF(objId, ...) if (objId == FLIGHTTELEMETRYSTATS_OBJID) { UAVT_DEBUGLOG_PRINTF(__VA_ARGS__); }
+// #include "flighttelemetrystats.h"
+// #define UAVT_DEBUGLOG_CPRINTF(objId, ...) if (objId == FLIGHTTELEMETRYSTATS_OBJID) { UAVT_DEBUGLOG_PRINTF(__VA_ARGS__); }
 #endif
 #ifndef UAVT_DEBUGLOG_PRINTF
 #define UAVT_DEBUGLOG_PRINTF(...)
@@ -296,6 +296,7 @@ static int32_t objectTransaction(UAVTalkConnectionData *connection, uint8_t type
 {
     int32_t respReceived;
     int32_t ret = -1;
+
     // Send object depending on if a response is needed
     if (type == UAVTALK_TYPE_OBJ_ACK || type == UAVTALK_TYPE_OBJ_ACK_TS || type == UAVTALK_TYPE_OBJ_REQ) {
         // Get transaction lock (will block if a transaction is pending)
@@ -304,7 +305,7 @@ static int32_t objectTransaction(UAVTalkConnectionData *connection, uint8_t type
         xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
         // expected response type
         connection->respType   = (type == UAVTALK_TYPE_OBJ_REQ) ? UAVTALK_TYPE_OBJ : UAVTALK_TYPE_ACK;
-        connection->respObjId  =  UAVObjGetID(obj);
+        connection->respObjId  = UAVObjGetID(obj);
         connection->respInstId = instId;
         ret = sendObject(connection, type, UAVObjGetID(obj), instId, obj);
         xSemaphoreGiveRecursive(connection->lock);
@@ -376,8 +377,8 @@ UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connectionHandle
         iproc->rxPacketLength = 1;
         iproc->rxCount = 0;
 
-        iproc->type = 0;
-        iproc->state = UAVTALK_STATE_TYPE;
+        iproc->type    = 0;
+        iproc->state   = UAVTALK_STATE_TYPE;
         break;
 
     case UAVTALK_STATE_TYPE:
@@ -389,9 +390,9 @@ UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connectionHandle
         }
 
         // update the CRC
-        iproc->cs = PIOS_CRC_updateByte(iproc->cs, rxbyte);
+        iproc->cs    = PIOS_CRC_updateByte(iproc->cs, rxbyte);
 
-        iproc->type = rxbyte;
+        iproc->type  = rxbyte;
 
         iproc->packet_size = 0;
         iproc->state = UAVTALK_STATE_SIZE;
@@ -408,7 +409,7 @@ UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connectionHandle
             break;
         }
         iproc->packet_size += rxbyte << 8;
-        iproc->rxCount = 0;
+        iproc->rxCount      = 0;
 
         if (iproc->packet_size < UAVTALK_MIN_HEADER_LENGTH || iproc->packet_size > UAVTALK_MAX_HEADER_LENGTH + UAVTALK_MAX_PAYLOAD_LENGTH) {
             // incorrect packet size
@@ -417,8 +418,8 @@ UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connectionHandle
             break;
         }
 
-        iproc->objId   = 0;
-        iproc->state   = UAVTALK_STATE_OBJID;
+        iproc->objId = 0;
+        iproc->state = UAVTALK_STATE_OBJID;
         break;
 
     case UAVTALK_STATE_OBJID:
@@ -432,8 +433,8 @@ UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connectionHandle
         }
         iproc->rxCount = 0;
 
-        iproc->instId = 0;
-        iproc->state = UAVTALK_STATE_INSTID;
+        iproc->instId  = 0;
+        iproc->state   = UAVTALK_STATE_INSTID;
         break;
 
     case UAVTALK_STATE_INSTID:
@@ -482,7 +483,7 @@ UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connectionHandle
         if (iproc->type & UAVTALK_TIMESTAMPED) {
             // If there is a timestamp get it
             iproc->timestamp = 0;
-            iproc->state = UAVTALK_STATE_TIMESTAMP;
+            iproc->state     = UAVTALK_STATE_TIMESTAMP;
         } else {
             // If there is a payload get it, otherwise receive checksum
             if (iproc->length > 0) {
@@ -598,6 +599,7 @@ UAVTalkRxState UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkC
     // The input packet must be completely parsed.
     if (inIproc->state != UAVTALK_STATE_COMPLETE) {
         inConnection->stats.rxErrors++;
+
         return -1;
     }
 
@@ -606,6 +608,7 @@ UAVTalkRxState UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkC
 
     if (!outConnection->outStream) {
         outConnection->stats.txErrors++;
+
         return -1;
     }
 
@@ -654,7 +657,7 @@ UAVTalkRxState UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkC
 
     // evaluate return value before releasing the lock
     UAVTalkRxState rxState = 0;
-    if (rc != (int32_t) (headerLength + inIproc->length + UAVTALK_CHECKSUM_LENGTH)) {
+    if (rc != (int32_t)(headerLength + inIproc->length + UAVTALK_CHECKSUM_LENGTH)) {
         outConnection->stats.txErrors++;
         rxState = -1;
     }
@@ -718,7 +721,8 @@ uint32_t UAVTalkGetPacketObjId(UAVTalkConnection connectionHandle)
  * \return 0 Success
  * \return -1 Failure
  */
-static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId, uint8_t *data) {
+static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId, uint8_t *data)
+{
     UAVObjHandle obj;
     int32_t ret = 0;
 
@@ -744,8 +748,7 @@ static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, ui
                 // any OBJ message can ack a pending OBJ_REQ message
                 // even one that was not sent in response to the OBJ_REQ message
                 updateAck(connection, type, objId, instId);
-            }
-            else {
+            } else {
                 ret = -1;
             }
         } else {
@@ -838,8 +841,7 @@ static void updateAck(UAVTalkConnectionData *connection, uint8_t type, uint32_t
             // last instance received, complete transaction
             xSemaphoreGive(connection->respSema);
             connection->respObjId = 0;
-        }
-        else if (connection->respInstId == instId) {
+        } else if (connection->respInstId == instId) {
             xSemaphoreGive(connection->respSema);
             connection->respObjId = 0;
         }
@@ -876,7 +878,7 @@ static int32_t sendObject(UAVTalkConnectionData *connection, uint8_t type, uint3
             numInst = UAVObjGetNumInstances(obj);
             // Send all instances in reverse order
             // This allows the receiver to detect when the last object has been received (i.e. when instance 0 is received)
-            ret = 0;
+            ret     = 0;
             for (n = 0; n < numInst; ++n) {
                 if (sendSingleObject(connection, type, objId, numInst - n - 1, obj) == -1) {
                     ret = -1;
@@ -903,7 +905,7 @@ static int32_t sendObject(UAVTalkConnectionData *connection, uint8_t type, uint3
  * \param[in] type Transaction type
  * \param[in] objId The object ID
  * \param[in] instId The instance ID (can NOT be UAVOBJ_ALL_INSTANCES, use
-() instead)
+   () instead)
  * \param[in] obj Object handle to send (null when type is NACK)
  * \return 0 Success
  * \return -1 Failure
@@ -978,8 +980,7 @@ static int32_t sendSingleObject(UAVTalkConnectionData *connection, uint8_t type,
         ++connection->stats.txObjects;
         connection->stats.txObjectBytes += length;
         connection->stats.txBytes += tx_msg_len;
-    }
-    else {
+    } else {
         connection->stats.txErrors++;
         // TDOD rc == -1 connection not open, -2 buffer full should retry
         connection->stats.txBytes += (rc > 0) ? rc : 0;
diff --git a/ground/openpilotgcs/src/libs/utils/crc.h b/ground/openpilotgcs/src/libs/utils/crc.h
index 2d9fc15a1..92c007a59 100644
--- a/ground/openpilotgcs/src/libs/utils/crc.h
+++ b/ground/openpilotgcs/src/libs/utils/crc.h
@@ -32,9 +32,7 @@
 #include "utils_global.h"
 
 namespace Utils {
-
 class QTCREATOR_UTILS_EXPORT Crc {
-
 public:
     /**
      * Update the crc value with new data.
@@ -54,9 +52,7 @@ public:
      * \return         The updated crc value.
      */
     static quint8 updateCRC(quint8 crc, const quint8 *data, qint32 length);
-
 };
-
 } // namespace Utils
 
 #endif // CRC_H
diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp
index 898e22802..4eee0438e 100644
--- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp
@@ -128,6 +128,7 @@ void SoundNotifyPlugin::readConfig(QSettings *settings, UAVConfigInfo * /* confi
 void SoundNotifyPlugin::onTelemetryManagerAdded(QObject *obj)
 {
     TelemetryManager *telMngr = qobject_cast<TelemetryManager *>(obj);
+
     if (telMngr) {
         connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
     }
diff --git a/ground/openpilotgcs/src/plugins/opmap/flightdatamodel.cpp b/ground/openpilotgcs/src/plugins/opmap/flightdatamodel.cpp
index ad269d626..674f4e092 100644
--- a/ground/openpilotgcs/src/plugins/opmap/flightdatamodel.cpp
+++ b/ground/openpilotgcs/src/plugins/opmap/flightdatamodel.cpp
@@ -30,8 +30,7 @@
 #include <QDomDocument>
 
 flightDataModel::flightDataModel(QObject *parent) : QAbstractTableModel(parent)
-{
-}
+{}
 
 int flightDataModel::rowCount(const QModelIndex & /*parent*/) const
 {
@@ -75,6 +74,7 @@ QVariant flightDataModel::data(const QModelIndex &index, int role) const
 bool flightDataModel::setColumnByIndex(pathPlanData *row, const int index, const QVariant value)
 {
     bool b;
+
     switch (index) {
     case WPDESCRITPTION:
         row->wpDescritption = value.toString();
@@ -178,6 +178,7 @@ bool flightDataModel::setColumnByIndex(pathPlanData *row, const int index, const
 QVariant flightDataModel::getColumnByIndex(const pathPlanData *row, const int index) const
 {
     QVariant value;
+
     switch (index) {
     case WPDESCRITPTION:
         value = row->wpDescritption;
@@ -255,6 +256,7 @@ QVariant flightDataModel::getColumnByIndex(const pathPlanData *row, const int in
 QVariant flightDataModel::headerData(int section, Qt::Orientation orientation, int role) const
 {
     QVariant value;
+
     if (role == Qt::DisplayRole) {
         if (orientation == Qt::Vertical) {
             value = QString::number(section + 1);
@@ -605,7 +607,7 @@ void flightDataModel::readFromFile(QString fileName)
             while (!fieldNode.isNull()) {
                 QDomElement field = fieldNode.toElement();
                 if (field.tagName() == "field") {
-                    QString name = field.attribute("name");
+                    QString name  = field.attribute("name");
                     QString value = field.attribute("value");
                     if (name == "altitude") {
                         data->altitude = value.toDouble();
diff --git a/ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.cpp b/ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.cpp
index 8b31c1d65..e328bf0db 100644
--- a/ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.cpp
+++ b/ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.cpp
@@ -32,13 +32,14 @@
 ModelUavoProxy::ModelUavoProxy(QObject *parent, flightDataModel *model) : QObject(parent), myModel(model)
 {
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+
     Q_ASSERT(pm != NULL);
 
-    objMngr    = pm->getObject<UAVObjectManager>();
+    objMngr = pm->getObject<UAVObjectManager>();
     Q_ASSERT(objMngr != NULL);
 
     completionCountdown = 0;
-    successCountdown = 0;
+    successCountdown    = 0;
 }
 
 void ModelUavoProxy::sendPathPlan()
@@ -59,7 +60,7 @@ void ModelUavoProxy::sendPathPlan()
 
     // we will start 3 update all
     completionCountdown = 3;
-    successCountdown = completionCountdown;
+    successCountdown    = completionCountdown;
 
     pathPlan->updated();
     waypoint->updatedAll();
@@ -77,8 +78,7 @@ void ModelUavoProxy::pathPlanElementSent(UAVObject *obj, bool success)
         qDebug() << "ModelUavoProxy::pathPlanSent - completed" << (successCountdown == 0);
         if (successCountdown == 0) {
             QMessageBox::information(NULL, tr("Path Plan Upload Successful"), tr("Path plan upload was successful."));
-        }
-        else {
+        } else {
             QMessageBox::critical(NULL, tr("Path Plan Upload Failed"), tr("Failed to upload the path plan !"));
         }
     }
@@ -87,6 +87,7 @@ void ModelUavoProxy::pathPlanElementSent(UAVObject *obj, bool success)
 void ModelUavoProxy::receivePathPlan()
 {
     PathPlan *pathPlan = PathPlan::GetInstance(objMngr, 0);
+
     connect(pathPlan, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(pathPlanElementReceived(UAVObject *, bool)));
 
     Waypoint *waypoint = Waypoint::GetInstance(objMngr, 0);
@@ -97,7 +98,7 @@ void ModelUavoProxy::receivePathPlan()
 
     // we will start 3 update requests
     completionCountdown = 3;
-    successCountdown = completionCountdown;
+    successCountdown    = completionCountdown;
 
     pathPlan->requestUpdate();
     waypoint->requestUpdateAll();
@@ -117,8 +118,7 @@ void ModelUavoProxy::pathPlanElementReceived(UAVObject *obj, bool success)
             if (objectsToModel()) {
                 QMessageBox::information(NULL, tr("Path Plan Download Successful"), tr("Path plan download was successful."));
             }
-        }
-        else {
+        } else {
             QMessageBox::critical(NULL, tr("Path Plan Download Failed"), tr("Failed to download the path plan !"));
         }
     }
@@ -139,12 +139,11 @@ bool ModelUavoProxy::modelToObjects()
     qDebug() << "ModelUAVProxy::modelToObjects";
 
     // track number of path actions
-    int actionCount = 0;
+    int actionCount   = 0;
 
     // iterate over waypoints
     int waypointCount = myModel->rowCount();
     for (int i = 0; i < waypointCount; ++i) {
-
         // Path Actions
 
         // create action to use as a search criteria
@@ -168,8 +167,7 @@ bool ModelUavoProxy::modelToObjects()
 
             // update UAVObject
             action->setData(actionData);
-        }
-        else {
+        } else {
             action->deleteLater();
             action = foundAction;
             qDebug() << "ModelUAVProxy::modelToObjects - found action instance :" << action->getInstID();
@@ -208,7 +206,7 @@ bool ModelUavoProxy::modelToObjects()
     PathPlan *pathPlan = PathPlan::GetInstance(objMngr);
     PathPlan::DataFields pathPlanData = pathPlan->getData();
 
-    pathPlanData.WaypointCount = waypointCount;
+    pathPlanData.WaypointCount   = waypointCount;
     pathPlanData.PathActionCount = actionCount;
     pathPlanData.Crc = computePathPlanCrc(waypointCount, actionCount);
 
@@ -217,9 +215,11 @@ bool ModelUavoProxy::modelToObjects()
     return true;
 }
 
-Waypoint *ModelUavoProxy::createWaypoint(int index, Waypoint *newWaypoint) {
+Waypoint *ModelUavoProxy::createWaypoint(int index, Waypoint *newWaypoint)
+{
     Waypoint *waypoint = NULL;
     int count = objMngr->getNumInstances(Waypoint::OBJID);
+
     if (index < count) {
         // reuse object
         qDebug() << "ModelUAVProxy::createWaypoint - reused waypoint instance :" << index << "/" << count;
@@ -234,17 +234,18 @@ Waypoint *ModelUavoProxy::createWaypoint(int index, Waypoint *newWaypoint) {
         waypoint = newWaypoint ? newWaypoint : new Waypoint;
         waypoint->initialize(index, waypoint->getMetaObject());
         objMngr->registerObject(waypoint);
-    }
-    else {
+    } else {
         // we can only create the "next" object
         // TODO fail in a clean way :(
     }
     return waypoint;
 }
 
-PathAction *ModelUavoProxy::createPathAction(int index, PathAction *newAction) {
+PathAction *ModelUavoProxy::createPathAction(int index, PathAction *newAction)
+{
     PathAction *action = NULL;
     int count = objMngr->getNumInstances(PathAction::OBJID);
+
     if (index < count) {
         // reuse object
         qDebug() << "ModelUAVProxy::createPathAction - reused action instance :" << index << "/" << count;
@@ -259,17 +260,18 @@ PathAction *ModelUavoProxy::createPathAction(int index, PathAction *newAction) {
         action = newAction ? newAction : new PathAction;
         action->initialize(index, action->getMetaObject());
         objMngr->registerObject(action);
-    }
-    else {
+    } else {
         // we can only create the "next" object
         // TODO fail in a clean way :(
     }
     return action;
 }
 
-PathAction *ModelUavoProxy::findPathAction(const PathAction::DataFields &actionData, int actionCount) {
+PathAction *ModelUavoProxy::findPathAction(const PathAction::DataFields &actionData, int actionCount)
+{
     int instancesCount = objMngr->getNumInstances(PathAction::OBJID);
     int count = actionCount <= instancesCount ? actionCount : instancesCount;
+
     for (int i = 0; i < count; ++i) {
         PathAction *action = PathAction::GetInstance(objMngr, i);
         Q_ASSERT(action);
@@ -278,15 +280,15 @@ PathAction *ModelUavoProxy::findPathAction(const PathAction::DataFields &actionD
         }
         PathAction::DataFields fields = action->getData();
         if (fields.Command == actionData.Command
-                && fields.ConditionParameters[0] == actionData.ConditionParameters[0]
-                && fields.ConditionParameters[1] == actionData.ConditionParameters[1]
-                && fields.ConditionParameters[2] == actionData.ConditionParameters[2]
-                && fields.EndCondition == actionData.EndCondition
-                && fields.ErrorDestination == actionData.ErrorDestination
-                && fields.JumpDestination == actionData.JumpDestination && fields.Mode == actionData.Mode
-                && fields.ModeParameters[0] == actionData.ModeParameters[0]
-                && fields.ModeParameters[1] == actionData.ModeParameters[1]
-                && fields.ModeParameters[2] == actionData.ModeParameters[2]) {
+            && fields.ConditionParameters[0] == actionData.ConditionParameters[0]
+            && fields.ConditionParameters[1] == actionData.ConditionParameters[1]
+            && fields.ConditionParameters[2] == actionData.ConditionParameters[2]
+            && fields.EndCondition == actionData.EndCondition
+            && fields.ErrorDestination == actionData.ErrorDestination
+            && fields.JumpDestination == actionData.JumpDestination && fields.Mode == actionData.Mode
+            && fields.ModeParameters[0] == actionData.ModeParameters[0]
+            && fields.ModeParameters[1] == actionData.ModeParameters[1]
+            && fields.ModeParameters[2] == actionData.ModeParameters[2]) {
             return action;
         }
     }
@@ -302,8 +304,8 @@ bool ModelUavoProxy::objectsToModel()
     PathPlan *pathPlan = PathPlan::GetInstance(objMngr);
     PathPlan::DataFields pathPlanData = pathPlan->getData();
 
-    int waypointCount = pathPlanData.WaypointCount;
-    int actionCount = pathPlanData.PathActionCount;
+    int waypointCount  = pathPlanData.WaypointCount;
+    int actionCount    = pathPlanData.PathActionCount;
 
     // consistency check
     if (waypointCount > objMngr->getNumInstances(Waypoint::OBJID)) {
@@ -322,8 +324,7 @@ bool ModelUavoProxy::objectsToModel()
     int rowCount = myModel->rowCount();
     if (waypointCount < rowCount) {
         myModel->removeRows(waypointCount, rowCount - waypointCount);
-    }
-    else if (waypointCount > rowCount) {
+    } else if (waypointCount > rowCount) {
         myModel->insertRows(rowCount, waypointCount - rowCount);
     }
 
@@ -349,10 +350,12 @@ bool ModelUavoProxy::objectsToModel()
     return true;
 }
 
-void ModelUavoProxy::modelToWaypoint(int i, Waypoint::DataFields &data) {
+void ModelUavoProxy::modelToWaypoint(int i, Waypoint::DataFields &data)
+{
     double distance, bearing, altitude, velocity;
 
     QModelIndex index = myModel->index(i, flightDataModel::DISRELATIVE);
+
     distance = myModel->data(index).toDouble();
     index    = myModel->index(i, flightDataModel::BEARELATIVE);
     bearing  = myModel->data(index).toDouble();
@@ -367,59 +370,64 @@ void ModelUavoProxy::modelToWaypoint(int i, Waypoint::DataFields &data) {
     data.Velocity = velocity;
 }
 
-void ModelUavoProxy::waypointToModel(int i, Waypoint::DataFields &data) {
-
+void ModelUavoProxy::waypointToModel(int i, Waypoint::DataFields &data)
+{
     double distance = sqrt(data.Position[Waypoint::POSITION_NORTH] * data.Position[Waypoint::POSITION_NORTH] +
-                    data.Position[Waypoint::POSITION_EAST] * data.Position[Waypoint::POSITION_EAST]);
+                           data.Position[Waypoint::POSITION_EAST] * data.Position[Waypoint::POSITION_EAST]);
 
     double bearing  = atan2(data.Position[Waypoint::POSITION_EAST], data.Position[Waypoint::POSITION_NORTH]) * 180 / M_PI;
+
     if (bearing != bearing) {
         bearing = 0;
     }
 
-    double altitude = -data.Position[Waypoint::POSITION_DOWN];
+    double altitude   = -data.Position[Waypoint::POSITION_DOWN];
 
     QModelIndex index = myModel->index(i, flightDataModel::VELOCITY);
     myModel->setData(index, data.Velocity);
-    index  = myModel->index(i, flightDataModel::DISRELATIVE);
+    index = myModel->index(i, flightDataModel::DISRELATIVE);
     myModel->setData(index, distance);
-    index  = myModel->index(i, flightDataModel::BEARELATIVE);
+    index = myModel->index(i, flightDataModel::BEARELATIVE);
     myModel->setData(index, bearing);
-    index  = myModel->index(i, flightDataModel::ALTITUDERELATIVE);
+    index = myModel->index(i, flightDataModel::ALTITUDERELATIVE);
     myModel->setData(index, altitude);
 }
 
-void ModelUavoProxy::modelToPathAction(int i, PathAction::DataFields &data) {
+void ModelUavoProxy::modelToPathAction(int i, PathAction::DataFields &data)
+{
     QModelIndex index = myModel->index(i, flightDataModel::MODE);
-    data.Mode = myModel->data(index).toInt();
-    index = myModel->index(i, flightDataModel::MODE_PARAMS0);
+
+    data.Mode    = myModel->data(index).toInt();
+    index        = myModel->index(i, flightDataModel::MODE_PARAMS0);
     data.ModeParameters[0] = myModel->data(index).toFloat();
-    index = myModel->index(i, flightDataModel::MODE_PARAMS1);
+    index        = myModel->index(i, flightDataModel::MODE_PARAMS1);
     data.ModeParameters[1] = myModel->data(index).toFloat();
-    index = myModel->index(i, flightDataModel::MODE_PARAMS2);
+    index        = myModel->index(i, flightDataModel::MODE_PARAMS2);
     data.ModeParameters[2] = myModel->data(index).toFloat();
-    index = myModel->index(i, flightDataModel::MODE_PARAMS3);
+    index        = myModel->index(i, flightDataModel::MODE_PARAMS3);
     data.ModeParameters[3] = myModel->data(index).toFloat();
-    index = myModel->index(i, flightDataModel::CONDITION);
+    index        = myModel->index(i, flightDataModel::CONDITION);
     data.EndCondition = myModel->data(index).toInt();
-    index = myModel->index(i, flightDataModel::CONDITION_PARAMS0);
+    index        = myModel->index(i, flightDataModel::CONDITION_PARAMS0);
     data.ConditionParameters[0] = myModel->data(index).toFloat();
-    index = myModel->index(i, flightDataModel::CONDITION_PARAMS1);
+    index        = myModel->index(i, flightDataModel::CONDITION_PARAMS1);
     data.ConditionParameters[1] = myModel->data(index).toFloat();
-    index = myModel->index(i, flightDataModel::CONDITION_PARAMS2);
+    index        = myModel->index(i, flightDataModel::CONDITION_PARAMS2);
     data.ConditionParameters[2] = myModel->data(index).toFloat();
-    index = myModel->index(i, flightDataModel::CONDITION_PARAMS3);
+    index        = myModel->index(i, flightDataModel::CONDITION_PARAMS3);
     data.ConditionParameters[3] = myModel->data(index).toFloat();
-    index = myModel->index(i, flightDataModel::COMMAND);
+    index        = myModel->index(i, flightDataModel::COMMAND);
     data.Command = myModel->data(index).toInt();
-    index = myModel->index(i, flightDataModel::JUMPDESTINATION);
+    index        = myModel->index(i, flightDataModel::JUMPDESTINATION);
     data.JumpDestination = myModel->data(index).toInt() - 1;
-    index = myModel->index(i, flightDataModel::ERRORDESTINATION);
+    index        = myModel->index(i, flightDataModel::ERRORDESTINATION);
     data.ErrorDestination = myModel->data(index).toInt() - 1;
 }
 
-void ModelUavoProxy::pathActionToModel(int i, PathAction::DataFields &data) {
+void ModelUavoProxy::pathActionToModel(int i, PathAction::DataFields &data)
+{
     QModelIndex index = myModel->index(i, flightDataModel::ISRELATIVE);
+
     myModel->setData(index, true);
 
     index = myModel->index(i, flightDataModel::COMMAND);
@@ -456,16 +464,17 @@ void ModelUavoProxy::pathActionToModel(int i, PathAction::DataFields &data) {
     myModel->setData(index, data.ModeParameters[3]);
 }
 
-quint8 ModelUavoProxy::computePathPlanCrc(int waypointCount, int actionCount) {
+quint8 ModelUavoProxy::computePathPlanCrc(int waypointCount, int actionCount)
+{
     quint8 crc = 0;
+
     for (int i = 0; i < waypointCount; ++i) {
-        Waypoint* waypoint = Waypoint::GetInstance(objMngr, i);
+        Waypoint *waypoint = Waypoint::GetInstance(objMngr, i);
         crc = waypoint->updateCRC(crc);
     }
     for (int i = 0; i < actionCount; ++i) {
-        PathAction* action = PathAction::GetInstance(objMngr, i);
+        PathAction *action = PathAction::GetInstance(objMngr, i);
         crc = action->updateCRC(crc);
     }
     return crc;
 }
-
diff --git a/ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.h b/ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.h
index d62d67746..e1f26262f 100644
--- a/ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.h
+++ b/ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.h
@@ -58,7 +58,7 @@ private:
     Waypoint *createWaypoint(int index, Waypoint *newWaypoint);
     PathAction *createPathAction(int index, PathAction *newAction);
 
-    PathAction *findPathAction(const PathAction::DataFields& actionFields, int actionCount);
+    PathAction *findPathAction(const PathAction::DataFields & actionFields, int actionCount);
 
     void modelToWaypoint(int i, Waypoint::DataFields &data);
     void modelToPathAction(int i, PathAction::DataFields &data);
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobject.cpp b/ground/openpilotgcs/src/plugins/uavobjects/uavobject.cpp
index 275a9708b..90a42be9e 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobject.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobject.cpp
@@ -55,13 +55,13 @@ using namespace Utils;
  */
 UAVObject::UAVObject(quint32 objID, bool isSingleInst, const QString & name)
 {
-    this->objID  = objID;
-    this->instID = 0;
+    this->objID        = objID;
+    this->instID       = 0;
     this->isSingleInst = isSingleInst;
-    this->name   = name;
-    this->data   = 0;
-    this->numBytes = 0;
-    this->mutex  = new QMutex(QMutex::Recursive);
+    this->name         = name;
+    this->data         = 0;
+    this->numBytes     = 0;
+    this->mutex        = new QMutex(QMutex::Recursive);
 }
 
 /**
@@ -215,7 +215,7 @@ void UAVObject::updatedAll()
     if (instID == 0) {
         emit objectUpdatedManual(this, true);
         // TODO call objectUpdated() for all instances?
-        //emit objectUpdated(this);
+        // emit objectUpdated(this);
     }
 }
 
@@ -287,7 +287,7 @@ UAVObjectField *UAVObject::getField(const QString & name)
     }
     // If this point is reached then the field was not found
     qWarning() << "UAVObject::getField Non existant field" << name << "requested."
-            << "This indicates a bug. Make sure you also have null checking for non-debug code.";
+               << "This indicates a bug. Make sure you also have null checking for non-debug code.";
     return NULL;
 }
 
@@ -334,8 +334,8 @@ quint8 UAVObject::updateCRC(quint8 crc)
 {
     QMutexLocker locker(mutex);
 
-    //crc = Crc::updateCRC(crc, (quint8 *) &objID, sizeof(objID));
-    //crc = Crc::updateCRC(crc, (quint8 *) &instID, sizeof(instID));
+    // crc = Crc::updateCRC(crc, (quint8 *) &objID, sizeof(objID));
+    // crc = Crc::updateCRC(crc, (quint8 *) &instID, sizeof(instID));
     crc = Crc::updateCRC(crc, data, numBytes);
 
     return crc;
diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
index 31435fca6..5b3b402fe 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
@@ -257,6 +257,7 @@ int UAVObjectUtilManager::getBoardModel()
     FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
 
     int ret = firmwareIapData.BoardType << 8;
+
     ret = ret + firmwareIapData.BoardRevision;
 
     return ret;
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
index b9317114c..70aac4163 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
@@ -1230,6 +1230,7 @@ void ConfigTaskWidget::loadWidgetLimits(QWidget *widget, UAVObjectField *field,
 void ConfigTaskWidget::updateEnableControls()
 {
     TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
+
     Q_ASSERT(telMngr);
 
     enableControls(telMngr->isConnected());
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp b/ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
index 6ce88acbe..059d988b1 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
+++ b/ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
@@ -230,6 +230,7 @@ void Telemetry::transactionCompleted(UAVObject *obj, bool success)
 {
     // Lookup the transaction in the transaction map.
     ObjectTransactionInfo *transInfo = findTransaction(obj);
+
     if (transInfo) {
         if (success) {
 #ifdef VERBOSE_TELEMETRY
@@ -264,17 +265,17 @@ void Telemetry::transactionTimeout(ObjectTransactionInfo *transInfo)
 #endif
         ++txRetries;
         --transInfo->retriesRemaining;
-		
+
         // Retry the transaction
         processObjectTransaction(transInfo);
     } else {
         qWarning().nospace() << "Telemetry - !!! transaction timed out for object " << transInfo->obj->toStringBrief();
 
         ++txErrors;
-        
+
         // Terminate transaction
         utalk->cancelTransaction(transInfo->obj);
-        
+
         // Remove this transaction as it's complete.
         UAVObject *obj = transInfo->obj;
         closeTransaction(transInfo);
@@ -294,6 +295,7 @@ void Telemetry::processObjectTransaction(ObjectTransactionInfo *transInfo)
 {
     // Initiate transaction
     bool sent = false;
+
     if (transInfo->objRequest) {
 #ifdef VERBOSE_TELEMETRY
         qDebug().nospace() << "Telemetry - sending request for object " << transInfo->obj->toStringBrief() << ", " << (transInfo->allInstances ? "all" : "single") << " " << (transInfo->acked ? "acked" : "");
@@ -310,14 +312,12 @@ void Telemetry::processObjectTransaction(ObjectTransactionInfo *transInfo)
         if (sent) {
             // Start timer if a response is expected
             transInfo->timer->start(REQ_TIMEOUT_MS);
-        }
-        else {
+        } else {
             // message was not sent, the transaction will not complete and will timeout
             // there is no need to wait to close the transaction and notify of completion failure
-            //transactionCompleted(transInfo->obj, false);
+            // transactionCompleted(transInfo->obj, false);
         }
-    }
-    else {
+    } else {
         // not transacted, so just close the transaction with no notification of completion
         closeTransaction(transInfo);
     }
@@ -378,8 +378,8 @@ void Telemetry::processObjectQueue()
     if (gcsStats.Status != GCSTelemetryStats::STATUS_CONNECTED) {
         objQueue.clear();
         if ((objInfo.obj->getObjID() != GCSTelemetryStats::OBJID) &&
-                (objInfo.obj->getObjID() != OPLinkSettings::OBJID) &&
-                (objInfo.obj->getObjID() != ObjectPersistence::OBJID)) {
+            (objInfo.obj->getObjID() != OPLinkSettings::OBJID) &&
+            (objInfo.obj->getObjID() != ObjectPersistence::OBJID)) {
             objInfo.obj->emitTransactionCompleted(false);
             return;
         }
@@ -396,7 +396,7 @@ void Telemetry::processObjectQueue()
         // TODO make the above logic a reality...
         if (findTransaction(objInfo.obj)) {
             qWarning().nospace() << "Telemetry - !!! Making request for an object " << objInfo.obj->toStringBrief() << " for which a request is already in progress";
-            //objInfo.obj->emitTransactionCompleted(false);
+            // objInfo.obj->emitTransactionCompleted(false);
             return;
         }
         UAVObject::Metadata metadata     = objInfo.obj->getMetadata();
@@ -466,7 +466,7 @@ void Telemetry::processPeriodicUpdates()
                 time.start();
                 allInstances = !objinfo->obj->isSingleInstance();
                 processObjectUpdates(objinfo->obj, EV_UPDATED_PERIODIC, allInstances, false);
-                elapsedMs = time.elapsed();
+                elapsedMs    = time.elapsed();
                 // Update timeToNextUpdateMs with the elapsed delay of sending the object;
                 timeToNextUpdateMs += elapsedMs;
             }
@@ -537,6 +537,7 @@ void Telemetry::objectUpdatedManual(UAVObject *obj, bool all)
     QMutexLocker locker(mutex);
 
     bool allInstances = obj->isSingleInstance() ? false : all;
+
     processObjectUpdates(obj, EV_UPDATED_MANUAL, allInstances, true);
 }
 
@@ -559,6 +560,7 @@ void Telemetry::updateRequested(UAVObject *obj, bool all)
     QMutexLocker locker(mutex);
 
     bool allInstances = obj->isSingleInstance() ? false : all;
+
     processObjectUpdates(obj, EV_UPDATE_REQ, allInstances, true);
 }
 
@@ -578,7 +580,7 @@ void Telemetry::newInstance(UAVObject *obj)
 
 ObjectTransactionInfo *Telemetry::findTransaction(UAVObject *obj)
 {
-    quint32 objId = obj->getObjID();
+    quint32 objId  = obj->getObjID();
     quint16 instId = obj->getInstID();
 
     // Lookup the transaction in the transaction map
@@ -596,7 +598,7 @@ ObjectTransactionInfo *Telemetry::findTransaction(UAVObject *obj)
 
 void Telemetry::openTransaction(ObjectTransactionInfo *trans)
 {
-    quint32 objId = trans->obj->getObjID();
+    quint32 objId  = trans->obj->getObjID();
     quint16 instId = trans->allInstances ? UAVTalk::ALL_INSTANCES : trans->obj->getInstID();
 
     QMap<quint32, ObjectTransactionInfo *> *objTransactions = transMap.value(objId);
@@ -609,7 +611,7 @@ void Telemetry::openTransaction(ObjectTransactionInfo *trans)
 
 void Telemetry::closeTransaction(ObjectTransactionInfo *trans)
 {
-    quint32 objId = trans->obj->getObjID();
+    quint32 objId  = trans->obj->getObjID();
     quint16 instId = trans->allInstances ? UAVTalk::ALL_INSTANCES : trans->obj->getInstID();
 
     QMap<quint32, ObjectTransactionInfo *> *objTransactions = transMap.value(objId);
@@ -627,6 +629,7 @@ void Telemetry::closeAllTransactions()
         QMap<quint32, ObjectTransactionInfo *> *objTransactions = transMap.value(objId);
         foreach(quint32 instId, objTransactions->keys()) {
             ObjectTransactionInfo *trans = objTransactions->value(instId);
+
             qWarning() << "Telemetry - closing active transaction for object" << trans->obj->toStringBrief();
             objTransactions->remove(instId);
             delete trans;
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/telemetrymanager.cpp b/ground/openpilotgcs/src/plugins/uavtalk/telemetrymanager.cpp
index ad3b3db16..d0865337c 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/telemetrymanager.cpp
+++ b/ground/openpilotgcs/src/plugins/uavtalk/telemetrymanager.cpp
@@ -43,8 +43,7 @@ TelemetryManager::TelemetryManager() : autopilotConnected(false)
 }
 
 TelemetryManager::~TelemetryManager()
-{
-}
+{}
 
 bool TelemetryManager::isConnected()
 {
@@ -76,8 +75,7 @@ void TelemetryManager::onStart()
         connect(device, SIGNAL(readyRead()), reader, SLOT(read()));
         // start the reader thread
         readerThread.start();
-    }
-    else {
+    } else {
         // Connect IO device to reader
         connect(device, SIGNAL(readyRead()), utalk, SLOT(processInputStream()));
     }
@@ -127,8 +125,7 @@ void TelemetryManager::onTelemetryUpdate(double txRate, double rxRate)
 }
 
 IODeviceReader::IODeviceReader(UAVTalk *uavTalk) : uavTalk(uavTalk)
-{
-}
+{}
 
 void IODeviceReader::read()
 {
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/telemetrymanager.h b/ground/openpilotgcs/src/plugins/uavtalk/telemetrymanager.h
index fd7745c68..0e32fcf55 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/telemetrymanager.h
+++ b/ground/openpilotgcs/src/plugins/uavtalk/telemetrymanager.h
@@ -72,8 +72,7 @@ private:
 };
 
 
-class IODeviceReader : public QObject
-{
+class IODeviceReader : public QObject {
     Q_OBJECT
 public:
     IODeviceReader(UAVTalk *uavTalk);
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.cpp b/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.cpp
index f0068c6cf..ad1148654 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.cpp
+++ b/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.cpp
@@ -199,16 +199,16 @@ void TelemetryMonitor::processStatsUpdates()
     tel->resetStats();
 
     // Update stats object
-    gcsStats.TxDataRate  = (float)telStats.txBytes / ((float)statsTimer->interval() / 1000.0);
-    gcsStats.TxBytes  += telStats.txBytes;
-    gcsStats.TxFailures += telStats.txErrors;
-    gcsStats.TxRetries  += telStats.txRetries;
+    gcsStats.TxDataRate    = (float)telStats.txBytes / ((float)statsTimer->interval() / 1000.0);
+    gcsStats.TxBytes      += telStats.txBytes;
+    gcsStats.TxFailures   += telStats.txErrors;
+    gcsStats.TxRetries    += telStats.txRetries;
 
-    gcsStats.RxDataRate  = (float)telStats.rxBytes / ((float)statsTimer->interval() / 1000.0);
-    gcsStats.RxBytes  += telStats.rxBytes;
-    gcsStats.RxFailures += telStats.rxErrors;
+    gcsStats.RxDataRate    = (float)telStats.rxBytes / ((float)statsTimer->interval() / 1000.0);
+    gcsStats.RxBytes      += telStats.rxBytes;
+    gcsStats.RxFailures   += telStats.rxErrors;
     gcsStats.RxSyncErrors += telStats.rxSyncErrors;
-    gcsStats.RxCrcErrors += telStats.rxCrcErrors;
+    gcsStats.RxCrcErrors  += telStats.rxCrcErrors;
 
     // Check for a connection timeout
     bool connectionTimeout;
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
index 1c7a33322..08ac75935 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
+++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
@@ -35,8 +35,8 @@
 
 #ifdef VERBOSE_UAVTALK
 // uncomment and adapt the following lines to filter verbose logging to include specific object(s) only
-//#include "flighttelemetrystats.h"
-//#define VERBOSE_FILTER(objId) if (objId == FlightTelemetryStats::OBJID)
+// #include "flighttelemetrystats.h"
+// #define VERBOSE_FILTER(objId) if (objId == FlightTelemetryStats::OBJID)
 #endif
 #ifndef VERBOSE_FILTER
 #define VERBOSE_FILTER(objId)
@@ -124,9 +124,8 @@ bool UAVTalk::sendObject(UAVObject *obj, bool acked, bool allInstances)
 
     if (allInstances) {
         instId = ALL_INSTANCES;
-    }
-    else if (obj) {
-       instId = obj->getInstID();
+    } else if (obj) {
+        instId = obj->getInstID();
     }
     bool success = false;
     if (acked) {
@@ -153,9 +152,8 @@ bool UAVTalk::sendObjectRequest(UAVObject *obj, bool allInstances)
 
     if (allInstances) {
         instId = ALL_INSTANCES;
-    }
-    else if (obj) {
-       instId = obj->getInstID();
+    } else if (obj) {
+        instId = obj->getInstID();
     }
     return objectTransaction(TYPE_OBJ_REQ, obj->getObjID(), instId, obj);
 }
@@ -188,7 +186,7 @@ void UAVTalk::cancelTransaction(UAVObject *obj)
  */
 bool UAVTalk::objectTransaction(quint8 type, quint32 objId, quint16 instId, UAVObject *obj)
 {
-	Q_ASSERT(obj);
+    Q_ASSERT(obj);
     // Send object depending on if a response is needed
     // transactions of TYPE_OBJ_REQ are acked by the response
     if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ) {
@@ -217,8 +215,7 @@ void UAVTalk::processInputStream()
             int ret = io->read((char *)&tmp, 1);
             if (ret != -1) {
                 processInputByte(tmp);
-            }
-            else {
+            } else {
                 // TODOD
             }
             if (rxState == STATE_COMPLETE) {
@@ -226,8 +223,7 @@ void UAVTalk::processInputStream()
                 if (receiveObject(rxType, rxObjId, rxInstId, rxBuffer, rxLength)) {
                     stats.rxObjectBytes += rxLength;
                     stats.rxObjects++;
-                }
-                else {
+                } else {
                     // TODO...
                 }
                 mutex.unlock();
@@ -237,7 +233,6 @@ void UAVTalk::processInputStream()
                     // accessed from this thread only
                     udpSocketTx->writeDatagram(rxDataArray, QHostAddress::LocalHost, udpSocketRx->localPort());
                 }
-
             }
         }
     }
@@ -319,7 +314,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
             break;
         }
         packetSize += (quint32)rxbyte << 8;
-        rxCount = 0;
+        rxCount     = 0;
 
 
         if (packetSize < HEADER_LENGTH || packetSize > HEADER_LENGTH + MAX_PAYLOAD_LENGTH) {
@@ -342,13 +337,13 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
         if (rxCount < 4) {
             break;
         }
-        rxCount = 0;
+        rxCount  = 0;
 
-        rxObjId = (qint32)qFromLittleEndian<quint32>(rxTmpBuffer);
+        rxObjId  = (qint32)qFromLittleEndian<quint32>(rxTmpBuffer);
 
         // Message always contain an instance ID
         rxInstId = 0;
-        rxState = STATE_INSTID;
+        rxState  = STATE_INSTID;
         break;
 
     case STATE_INSTID:
@@ -402,7 +397,6 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
                 rxState = STATE_ERROR;
                 break;
             }
-
         }
 
         // If there is a payload get it, otherwise receive checksum
@@ -651,15 +645,13 @@ void UAVTalk::updateAck(quint8 type, quint32 objId, quint16 instId, UAVObject *o
     if (trans && trans->respType == type) {
         if (trans->respInstId == ALL_INSTANCES) {
             if (instId == 0) {
-            	// last instance received, complete transaction
+                // last instance received, complete transaction
                 closeTransaction(trans);
                 emit transactionCompleted(obj, true);
+            } else {
+                // TODO extend timeout?
             }
-            else {
-            	// TODO extend timeout?
-            }
-        }
-        else {
+        } else {
             closeTransaction(trans);
             emit transactionCompleted(obj, true);
         }
@@ -713,7 +705,7 @@ bool UAVTalk::transmitObject(quint8 type, quint32 objId, quint16 instId, UAVObje
             ret = true;
             quint32 numInst = objMngr->getNumInstances(objId);
             for (quint32 n = 0; n < numInst; ++n) {
-                quint32 i = numInst - n - 1;
+                quint32 i    = numInst - n - 1;
                 UAVObject *o = objMngr->getObject(objId, i);
                 if (!transmitSingleObject(type, objId, i, o)) {
                     ret = false;
@@ -800,13 +792,11 @@ bool UAVTalk::transmitSingleObject(quint8 type, quint32 objId, quint16 instId, U
             if (useUDPMirror) {
                 udpSocketRx->writeDatagram((const char *)txBuffer, HEADER_LENGTH + length + CHECKSUM_LENGTH, QHostAddress::LocalHost, udpSocketTx->localPort());
             }
-        }
-        else {
+        } else {
             qWarning() << "UAVTalk - error transmitting : io device full";
             ++stats.txErrors;
             return false;
         }
-
     } else {
         qWarning() << "UAVTalk - error transmitting : io device not writable";
         ++stats.txErrors;
@@ -840,8 +830,9 @@ UAVTalk::Transaction *UAVTalk::findTransaction(quint32 objId, quint16 instId)
 void UAVTalk::openTransaction(quint8 type, quint32 objId, quint16 instId)
 {
     Transaction *trans = new Transaction();
-    trans->respType = (type == TYPE_OBJ_REQ) ? TYPE_OBJ : TYPE_ACK;
-    trans->respObjId = objId;
+
+    trans->respType   = (type == TYPE_OBJ_REQ) ? TYPE_OBJ : TYPE_ACK;
+    trans->respObjId  = objId;
     trans->respInstId = instId;
 
     QMap<quint32, Transaction *> *objTransactions = transMap.value(trans->respObjId);
@@ -869,6 +860,7 @@ void UAVTalk::closeAllTransactions()
         QMap<quint32, Transaction *> *objTransactions = transMap.value(objId);
         foreach(quint32 instId, objTransactions->keys()) {
             Transaction *trans = objTransactions->value(instId);
+
             qWarning() << "UAVTalk - closing active transaction for object" << trans->respObjId;
             objTransactions->remove(instId);
             delete trans;
@@ -878,29 +870,33 @@ void UAVTalk::closeAllTransactions()
     }
 }
 
-const char* UAVTalk::typeToString(quint8 type)
+const char *UAVTalk::typeToString(quint8 type)
 {
     switch (type) {
     case TYPE_OBJ:
         return "object";
+
         break;
 
     case TYPE_OBJ_ACK:
         return "object (acked)";
+
         break;
 
     case TYPE_OBJ_REQ:
         return "object request";
+
         break;
 
     case TYPE_ACK:
         return "ack";
+
         break;
 
     case TYPE_NACK:
         return "nack";
-        break;
 
+        break;
     }
     return "<error>";
 }
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
index fe5922096..4d27399f9 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
+++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
@@ -44,7 +44,7 @@ class UAVTALK_EXPORT UAVTalk : public QObject {
     friend class IODeviceReader;
 
 public:
-    static const quint16 ALL_INSTANCES  = 0xFFFF;
+    static const quint16 ALL_INSTANCES = 0xFFFF;
 
     typedef struct {
         quint32 txBytes;
@@ -80,22 +80,22 @@ private slots:
 private:
 
     typedef struct {
-        quint8 respType;
+        quint8  respType;
         quint32 respObjId;
         quint16 respInstId;
     } Transaction;
 
     // Constants
-    static const int TYPE_MASK    = 0xF8;
-    static const int TYPE_VER     = 0x20;
-    static const int TYPE_OBJ     = (TYPE_VER | 0x00);
-    static const int TYPE_OBJ_REQ = (TYPE_VER | 0x01);
-    static const int TYPE_OBJ_ACK = (TYPE_VER | 0x02);
-    static const int TYPE_ACK     = (TYPE_VER | 0x03);
-    static const int TYPE_NACK    = (TYPE_VER | 0x04);
+    static const int TYPE_MASK     = 0xF8;
+    static const int TYPE_VER      = 0x20;
+    static const int TYPE_OBJ      = (TYPE_VER | 0x00);
+    static const int TYPE_OBJ_REQ  = (TYPE_VER | 0x01);
+    static const int TYPE_OBJ_ACK  = (TYPE_VER | 0x02);
+    static const int TYPE_ACK      = (TYPE_VER | 0x03);
+    static const int TYPE_NACK     = (TYPE_VER | 0x04);
 
     // header : sync(1), type (1), size(2), object ID(4), instance ID(2)
-    static const int HEADER_LENGTH  = 10;
+    static const int HEADER_LENGTH = 10;
 
     static const int MAX_PAYLOAD_LENGTH = 256;