diff --git a/src/examples/fixedwing_control/CMakeLists.txt b/src/examples/fixedwing_control/CMakeLists.txt
index 0f1dcd70e6..660dbfc400 100644
--- a/src/examples/fixedwing_control/CMakeLists.txt
+++ b/src/examples/fixedwing_control/CMakeLists.txt
@@ -37,7 +37,6 @@ px4_add_module(
 	STACK_MAX 1300
 	SRCS
 		main.cpp
-		params.c
 	DEPENDS
 		platforms__common
 	)
diff --git a/src/examples/fixedwing_control/main.cpp b/src/examples/fixedwing_control/main.cpp
index fc235d23e9..a5854638ca 100644
--- a/src/examples/fixedwing_control/main.cpp
+++ b/src/examples/fixedwing_control/main.cpp
@@ -42,40 +42,31 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
+#include "params.h"
+
+#include <poll.h>
+
+#include <drivers/drv_hrt.h>
+#include <geo/geo.h>
+#include <matrix/math.hpp>
 #include <px4_config.h>
 #include <px4_tasks.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <drivers/drv_hrt.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_global_position.h>
+#include <systemlib/err.h>
+#include <systemlib/param/param.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/systemlib.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/parameter_update.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/parameter_update.h>
-#include <systemlib/param/param.h>
-#include <systemlib/pid/pid.h>
-#include <geo/geo.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/systemlib.h>
-#include <systemlib/err.h>
-
-#include <matrix/math.hpp>
-
-/* process-specific header files */
-#include "params.h"
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/uORB.h>
 
 /* Prototypes */
 
@@ -112,6 +103,14 @@ int fixedwing_control_thread_main(int argc, char *argv[]);
  */
 static void usage(const char *reason);
 
+int parameters_init(struct param_handles *h);
+
+/**
+ * Update all parameters
+ *
+ */
+int parameters_update(const struct param_handles *h, struct params *p);
+
 /**
  * Control roll and pitch angle.
  *
@@ -226,6 +225,26 @@ void control_heading(const struct vehicle_global_position_s *pos, const struct p
 	att_sp->q_d[3] = qd(3);
 }
 
+int parameters_init(struct param_handles *handles)
+{
+	/* PID parameters */
+	handles->hdng_p 	=	param_find("EXFW_HDNG_P");
+	handles->roll_p 	=	param_find("EXFW_ROLL_P");
+	handles->pitch_p 	=	param_find("EXFW_PITCH_P");
+
+	return 0;
+}
+
+int parameters_update(const struct param_handles *handles, struct params *parameters)
+{
+	param_get(handles->hdng_p, &(parameters->hdng_p));
+	param_get(handles->roll_p, &(parameters->roll_p));
+	param_get(handles->pitch_p, &(parameters->pitch_p));
+
+	return 0;
+}
+
+
 /* Main Thread */
 int fixedwing_control_thread_main(int argc, char *argv[])
 {
diff --git a/src/examples/fixedwing_control/params.c b/src/examples/fixedwing_control/params.c
index 88bd5cfcf8..d444ea4185 100644
--- a/src/examples/fixedwing_control/params.c
+++ b/src/examples/fixedwing_control/params.c
@@ -38,8 +38,6 @@
  * Parameters for fixedwing demo
  */
 
-#include "params.h"
-
 /* controller parameters, use max. 15 characters for param name! */
 
 /**
@@ -56,30 +54,3 @@ PARAM_DEFINE_FLOAT(EXFW_ROLL_P, 0.2f);
  *
  */
 PARAM_DEFINE_FLOAT(EXFW_PITCH_P, 0.2f);
-
-int parameters_init(struct param_handles *h);
-
-/**
- * Update all parameters
- *
- */
-int parameters_update(const struct param_handles *h, struct params *p);
-
-int parameters_init(struct param_handles *h)
-{
-	/* PID parameters */
-	h->hdng_p 	=	param_find("EXFW_HDNG_P");
-	h->roll_p 	=	param_find("EXFW_ROLL_P");
-	h->pitch_p 	=	param_find("EXFW_PITCH_P");
-
-	return 0;
-}
-
-int parameters_update(const struct param_handles *h, struct params *p)
-{
-	param_get(h->hdng_p, &(p->hdng_p));
-	param_get(h->roll_p, &(p->roll_p));
-	param_get(h->pitch_p, &(p->pitch_p));
-
-	return 0;
-}
diff --git a/src/examples/mc_att_control_multiplatform/mc_att_control_sim.h b/src/examples/mc_att_control_multiplatform/mc_att_control_sim.h
index 1d76afb82d..da174d6eb1 100644
--- a/src/examples/mc_att_control_multiplatform/mc_att_control_sim.h
+++ b/src/examples/mc_att_control_multiplatform/mc_att_control_sim.h
@@ -89,7 +89,7 @@ public:
 	void get_mixer_input(Eigen::Vector4d &motor_inputs);
 
 protected:
-	void vehicle_attitude_setpoint_poll() {};
+	void vehicle_attitude_setpoint_poll() {}
 
 
 };
diff --git a/src/examples/publisher/publisher_example.h b/src/examples/publisher/publisher_example.h
index 2841320734..6281d39e35 100644
--- a/src/examples/publisher/publisher_example.h
+++ b/src/examples/publisher/publisher_example.h
@@ -46,7 +46,7 @@ class PublisherExample
 public:
 	PublisherExample();
 
-	~PublisherExample() {};
+	~PublisherExample() {}
 
 	int main();
 
diff --git a/src/examples/rover_steering_control/CMakeLists.txt b/src/examples/rover_steering_control/CMakeLists.txt
index 5a014b216b..5b7ecf0b88 100644
--- a/src/examples/rover_steering_control/CMakeLists.txt
+++ b/src/examples/rover_steering_control/CMakeLists.txt
@@ -37,7 +37,6 @@ px4_add_module(
 	STACK_MAX 1300
 	SRCS
 		main.cpp
-		params.c
 	DEPENDS
 		platforms__common
 	)
diff --git a/src/examples/segway/CMakeLists.txt b/src/examples/segway/CMakeLists.txt
index 574eb68628..9508503da3 100644
--- a/src/examples/segway/CMakeLists.txt
+++ b/src/examples/segway/CMakeLists.txt
@@ -39,7 +39,6 @@ px4_add_module(
 		blocks.cpp
 		segway_main.cpp
 		BlockSegwayController.cpp
-		params.c
 	DEPENDS
 		platforms__common
 	)
diff --git a/src/examples/subscriber/subscriber_example.h b/src/examples/subscriber/subscriber_example.h
index 4fdd236366..fec8a76efc 100644
--- a/src/examples/subscriber/subscriber_example.h
+++ b/src/examples/subscriber/subscriber_example.h
@@ -48,7 +48,7 @@ class SubscriberExample
 public:
 	SubscriberExample();
 
-	~SubscriberExample() {};
+	~SubscriberExample() {}
 
 	void spin() {_n.spin();}