diff --git a/src/modules/mavlink/mavlink_messages.h b/src/modules/mavlink/mavlink_messages.h
index 685eaff475..3c302891a2 100644
--- a/src/modules/mavlink/mavlink_messages.h
+++ b/src/modules/mavlink/mavlink_messages.h
@@ -43,17 +43,18 @@
 
 #include "mavlink_stream.h"
 
-class StreamListItem {
+class StreamListItem
+{
 
 public:
-	MavlinkStream* (*new_instance)(Mavlink *mavlink);
-	const char* (*get_name)();
+	MavlinkStream *(*new_instance)(Mavlink *mavlink);
+	const char *(*get_name)();
 	uint8_t (*get_id)();
 
-	StreamListItem(MavlinkStream* (*inst)(Mavlink *mavlink), const char* (*name)(), uint8_t (*id)()) :
+	StreamListItem(MavlinkStream * (*inst)(Mavlink *mavlink), const char *(*name)(), uint8_t (*id)()) :
 		new_instance(inst),
 		get_name(name),
-        get_id(id) {};
+		get_id(id) {};
 
 	~StreamListItem() {};
 };
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index f04d98f887..1841861298 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -167,12 +167,14 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		if (_mavlink->accepting_commands()) {
 			handle_message_command_long(msg);
 		}
+
 		break;
 
 	case MAVLINK_MSG_ID_COMMAND_INT:
 		if (_mavlink->accepting_commands()) {
 			handle_message_command_int(msg);
 		}
+
 		break;
 
 	case MAVLINK_MSG_ID_OPTICAL_FLOW_RAD:
@@ -187,6 +189,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		if (_mavlink->accepting_commands()) {
 			handle_message_set_mode(msg);
 		}
+
 		break;
 
 	case MAVLINK_MSG_ID_ATT_POS_MOCAP:
@@ -229,6 +232,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		if (_mavlink->accepting_commands()) {
 			handle_message_request_data_stream(msg);
 		}
+
 		break;
 
 	case MAVLINK_MSG_ID_SYSTEM_TIME:
@@ -355,11 +359,11 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 		} else if (cmd_mavlink.command == MAV_CMD_GET_HOME_POSITION) {
 			_mavlink->configure_stream_threadsafe("HOME_POSITION", 0.5f);
 
-        } else if (cmd_mavlink.command == MAV_CMD_SET_MESSAGE_INTERVAL) {
-            set_message_interval((int)cmd_mavlink.param1, cmd_mavlink.param2);
+		} else if (cmd_mavlink.command == MAV_CMD_SET_MESSAGE_INTERVAL) {
+			set_message_interval((int)cmd_mavlink.param1, cmd_mavlink.param2);
 
-        } else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) {
-            get_message_interval((int)cmd_mavlink.param1);
+		} else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) {
+			get_message_interval((int)cmd_mavlink.param1);
 
 		} else {
 
@@ -539,7 +543,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 
 		if (_flow_distance_sensor_pub == nullptr) {
 			_flow_distance_sensor_pub = orb_advertise_multi(ORB_ID(distance_sensor), &d,
-						   &_orb_class_instance, ORB_PRIO_HIGH);
+						    &_orb_class_instance, ORB_PRIO_HIGH);
 
 		} else {
 			orb_publish(ORB_ID(distance_sensor), _flow_distance_sensor_pub, &d);
@@ -1374,75 +1378,76 @@ MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg)
 	mavlink_request_data_stream_t req;
 	mavlink_msg_request_data_stream_decode(msg, &req);
 
-    PX4_WARN("REQUEST_DATA_STREAM is deprecated, please use SET_MESSAGE_INTERVAL instead");
+	PX4_WARN("REQUEST_DATA_STREAM is deprecated, please use SET_MESSAGE_INTERVAL instead");
 
 	if (req.target_system == mavlink_system.sysid && req.target_component == mavlink_system.compid &&
-	        req.req_stream_id != 0)
-	{
-	    // compute interval in microseconds.
-        float interval = 0;
-	    int rate = req.req_message_rate;
-	    if (req.start_stop == 0 || rate == 0) {
-	        rate = -1;
-	    }
-	    else if (rate > 0) {
-	        interval = 1000000.0f / rate;
-	    }
+	    req.req_stream_id != 0) {
+		// compute interval in microseconds.
+		float interval = 0;
+		int rate = req.req_message_rate;
 
-	    // todo: note it is kind of bogus to interpret the req_stream_id as a message id
-	    // but this is how it was.  MAVLINK defines separate MAV_DATA_STREAM ids which bundle
-	    // messages into groups, but that is all deprecated now anyway, and this code was
-	    // previously interpreting the req_stream_id as a message id, so we'll leave it that way.
-	    set_message_interval(req.req_stream_id, interval);
+		if (req.start_stop == 0 || rate == 0) {
+			rate = -1;
+
+		} else if (rate > 0) {
+			interval = 1000000.0f / rate;
+		}
+
+		// todo: note it is kind of bogus to interpret the req_stream_id as a message id
+		// but this is how it was.  MAVLINK defines separate MAV_DATA_STREAM ids which bundle
+		// messages into groups, but that is all deprecated now anyway, and this code was
+		// previously interpreting the req_stream_id as a message id, so we'll leave it that way.
+		set_message_interval(req.req_stream_id, interval);
 	}
 }
 
 void
 MavlinkReceiver::set_message_interval(int msgId, float interval)
 {
-    // configure_stream wants a rate (msgs/second), so convert here.
-    float rate = 0;
-    if (interval < 0) {
-        // stop the stream.
-        rate = 0;
-    }
-    else if (interval > 0) {
-        rate = 1000000.0f / interval;
-    }
-    else {
-        // note: mavlink spec says rate == 0 is requesting a default rate but our streams
-        // don't publish a default rate so for now let's pick a default rate of zero.
-    }
+	// configure_stream wants a rate (msgs/second), so convert here.
+	float rate = 0;
 
-    // The interval between two messages is in microseconds.
-    // Set to -1 to disable and 0 to request default rate
-    if (msgId != 0)
-    {
-        for (unsigned int i = 0; streams_list[i] != nullptr; i++) {
-            const StreamListItem* item = streams_list[i];
-            if (msgId == item->get_id()) {
-                _mavlink->configure_stream_threadsafe(item->get_name(), rate);
-                break;
-            }
-        }
-    }
+	if (interval < 0) {
+		// stop the stream.
+		rate = 0;
+
+	} else if (interval > 0) {
+		rate = 1000000.0f / interval;
+
+	} else {
+		// note: mavlink spec says rate == 0 is requesting a default rate but our streams
+		// don't publish a default rate so for now let's pick a default rate of zero.
+	}
+
+	// The interval between two messages is in microseconds.
+	// Set to -1 to disable and 0 to request default rate
+	if (msgId != 0) {
+		for (unsigned int i = 0; streams_list[i] != nullptr; i++) {
+			const StreamListItem *item = streams_list[i];
+
+			if (msgId == item->get_id()) {
+				_mavlink->configure_stream_threadsafe(item->get_name(), rate);
+				break;
+			}
+		}
+	}
 }
 
 void
 MavlinkReceiver::get_message_interval(int msgId)
 {
-    unsigned interval = 0;
+	unsigned interval = 0;
 
-    MavlinkStream *stream;
-    LL_FOREACH(_mavlink->get_streams(), stream) {
-        if (stream->get_id() == msgId) {
-            interval = stream->get_interval();
-            break;
-        }
-    }
+	MavlinkStream *stream;
+	LL_FOREACH(_mavlink->get_streams(), stream) {
+		if (stream->get_id() == msgId) {
+			interval = stream->get_interval();
+			break;
+		}
+	}
 
-    // send back this value...
-    mavlink_msg_message_interval_send(_mavlink->get_channel(), msgId, interval);
+	// send back this value...
+	mavlink_msg_message_interval_send(_mavlink->get_channel(), msgId, interval);
 }
 
 void
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 7894c3b817..45e904d295 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -145,10 +145,10 @@ private:
 
 	void *receive_thread(void *arg);
 
-    /**
-     * Set the interval at which the given message stream is published.
-     * The rate is the number of messages per second.
-     */
+	/**
+	 * Set the interval at which the given message stream is published.
+	 * The rate is the number of messages per second.
+	 */
 	void set_message_interval(int msgId, float rate);
 	void get_message_interval(int msgId);