diff --git a/src/lib/rc/CMakeLists.txt b/src/lib/rc/CMakeLists.txt
index 1295729495..d4162502b2 100644
--- a/src/lib/rc/CMakeLists.txt
+++ b/src/lib/rc/CMakeLists.txt
@@ -39,7 +39,11 @@ add_library(rc
 	dsm.cpp
 	common_rc.cpp
 )
-target_compile_options(rc PRIVATE -Wno-unused-result)
+target_compile_options(rc
+	PRIVATE
+		#-DDEBUG_BUILD
+		-Wno-unused-result
+)
 target_link_libraries(rc PRIVATE prebuild_targets)
 
 if(PX4_TESTING AND (${PX4_PLATFORM} MATCHES "posix"))
diff --git a/src/lib/rc/dsm.cpp b/src/lib/rc/dsm.cpp
index 746981c3ce..a1d9a26601 100644
--- a/src/lib/rc/dsm.cpp
+++ b/src/lib/rc/dsm.cpp
@@ -164,8 +164,7 @@ static bool dsm_decode_channel(uint16_t raw, unsigned shift, uint8_t &channel, u
  *
  * @param[in] reset true=reset the 10/11 bit state to unknown
  */
-static bool
-dsm_guess_format(bool reset)
+static bool dsm_guess_format(bool reset)
 {
 	static uint32_t	cs10 = 0;
 	static uint32_t	cs11 = 0;
@@ -204,8 +203,7 @@ dsm_guess_format(bool reset)
 	samples++;
 
 #ifdef DSM_DEBUG
-	printf("dsm guess format: samples: %d %s\n", samples,
-	       (reset) ? "RESET" : "");
+	printf("dsm guess format: samples: %d %s\n", samples, (reset) ? "RESET" : "");
 #endif
 
 	/* wait until we have seen plenty of frames - 5 should normally be enough */
@@ -269,8 +267,7 @@ dsm_guess_format(bool reset)
 	return false;
 }
 
-int
-dsm_config(int fd)
+int dsm_config(int fd)
 {
 #ifdef SPEKTRUM_POWER
 	// enable power on DSM connector
@@ -302,8 +299,7 @@ dsm_config(int fd)
 	return ret;
 }
 
-void
-dsm_proto_init()
+void dsm_proto_init()
 {
 	dsm_channel_shift = 0;
 	dsm_frame_drops = 0;
@@ -322,10 +318,8 @@ dsm_proto_init()
  *
  * @param[in] device Device name of DSM UART
  */
-int
-dsm_init(const char *device)
+int dsm_init(const char *device)
 {
-
 	if (dsm_fd < 0) {
 		dsm_fd = open(device, O_RDWR | O_NONBLOCK);
 	}
@@ -342,8 +336,7 @@ dsm_init(const char *device)
 	}
 }
 
-void
-dsm_deinit()
+void dsm_deinit()
 {
 	if (dsm_fd >= 0) {
 		close(dsm_fd);
@@ -359,37 +352,44 @@ dsm_deinit()
  * @param[in] cmd commands - dsm_bind_power_down, dsm_bind_power_up, dsm_bind_set_rx_out, dsm_bind_send_pulses, dsm_bind_reinit_uart
  * @param[in] pulses Number of pulses for dsm_bind_send_pulses command
  */
-void
-dsm_bind(uint16_t cmd, int pulses)
+void dsm_bind(uint16_t cmd, int pulses)
 {
 	if (dsm_fd < 0) {
 		return;
 	}
 
 	switch (cmd) {
-
 	case DSM_CMD_BIND_POWER_DOWN:
-
-		/*power down DSM satellite*/
+		// power down DSM satellite
+#if defined(DSM_DEBUG)
+		printf("DSM: DSM_CMD_BIND_POWER_DOWN\n");
+#endif
 		SPEKTRUM_POWER(false);
 		break;
 
 	case DSM_CMD_BIND_POWER_UP:
-
-		/*power up DSM satellite*/
+		// power up DSM satellite
+#if defined(DSM_DEBUG)
+		printf("DSM: DSM_CMD_BIND_POWER_UP\n");
+#endif
 		SPEKTRUM_POWER(true);
 		dsm_guess_format(true);
 		break;
 
 	case DSM_CMD_BIND_SET_RX_OUT:
-
-		/*Set UART RX pin to active output mode*/
+		// Set UART RX pin to active output mode
+#if defined(DSM_DEBUG)
+		printf("DSM: DSM_CMD_BIND_SET_RX_OUT\n");
+#endif
 		SPEKTRUM_RX_AS_GPIO_OUTPUT();
 		break;
 
 	case DSM_CMD_BIND_SEND_PULSES:
+		// Pulse RX pin a number of times
+#if defined(DSM_DEBUG)
+		printf("DSM: DSM_CMD_BIND_SEND_PULSES\n");
+#endif
 
-		/*Pulse RX pin a number of times*/
 		for (int i = 0; i < pulses; i++) {
 			dsm_udelay(120);
 			SPEKTRUM_OUT(false);
@@ -400,8 +400,10 @@ dsm_bind(uint16_t cmd, int pulses)
 		break;
 
 	case DSM_CMD_BIND_REINIT_UART:
-
-		/*Restore USART RX pin to RS232 receive mode*/
+		// Restore USART RX pin to RS232 receive mode
+#if defined(DSM_DEBUG)
+		printf("DSM: DSM_CMD_BIND_REINIT_UART\n");
+#endif
 		SPEKTRUM_RX_AS_UART();
 		break;
 
@@ -417,9 +419,8 @@ dsm_bind(uint16_t cmd, int pulses)
  * @param[out] num_values pointer to number of raw channel values returned
  * @return true=DSM frame successfully decoded, false=no update
  */
-bool
-dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *dsm_11_bit, unsigned max_values,
-	   int8_t *rssi_percent)
+bool dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *dsm_11_bit, unsigned max_values,
+		int8_t *rssi_percent)
 {
 	/*
 	debug("DSM dsm_frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x",
@@ -683,9 +684,8 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool
  * @param[out] rssi value in percent, if supported, or 127
  * @return true=decoded raw channel values updated, false=no update
  */
-bool
-dsm_input(int fd, uint16_t *values, uint16_t *num_values, bool *dsm_11_bit, uint8_t *n_bytes, uint8_t **bytes,
-	  int8_t *rssi, unsigned max_values)
+bool dsm_input(int fd, uint16_t *values, uint16_t *num_values, bool *dsm_11_bit, uint8_t *n_bytes, uint8_t **bytes,
+	       int8_t *rssi, unsigned max_values)
 {
 	/*
 	 * The S.BUS protocol doesn't provide reliable framing,
@@ -726,11 +726,9 @@ dsm_input(int fd, uint16_t *values, uint16_t *num_values, bool *dsm_11_bit, uint
 	return dsm_parse(now, &dsm_buf[0], ret, values, num_values, dsm_11_bit, &dsm_frame_drops, rssi, max_values);
 }
 
-bool
-dsm_parse(const uint64_t now, const uint8_t *frame, const unsigned len, uint16_t *values,
-	  uint16_t *num_values, bool *dsm_11_bit, unsigned *frame_drops, int8_t *rssi_percent, uint16_t max_channels)
+bool dsm_parse(const uint64_t now, const uint8_t *frame, const unsigned len, uint16_t *values,
+	       uint16_t *num_values, bool *dsm_11_bit, unsigned *frame_drops, int8_t *rssi_percent, uint16_t max_channels)
 {
-
 	/* this is set by the decoding state machine and will default to false
 	 * once everything that was decodable has been decoded.
 	 */