diff --git a/sw/airborne/firmwares/rotorcraft/main_fbw.c b/sw/airborne/firmwares/rotorcraft/main_fbw.c
index e57c84e647..d3a43357a9 100644
--- a/sw/airborne/firmwares/rotorcraft/main_fbw.c
+++ b/sw/airborne/firmwares/rotorcraft/main_fbw.c
@@ -50,7 +50,7 @@
 //#include "generated/modules.h"
 
 /** Fly by wire modes */
-typedef enum {FBW_MODE_MANUAL=0,FBW_MODE_AUTO=1,FBW_MODE_FAILSAFE=2} fbw_mode_enum;
+typedef enum {FBW_MODE_MANUAL = 0, FBW_MODE_AUTO = 1, FBW_MODE_FAILSAFE = 2} fbw_mode_enum;
 fbw_mode_enum fbw_mode;
 
 /* MODULES_FREQUENCY is defined in generated/modules.h
@@ -119,8 +119,8 @@ STATIC_INLINE void handle_periodic_tasks(void)
     main_periodic();
   }
   //if (sys_time_check_and_ack_timer(modules_tid)) {
-    // TODO
-    //modules_periodic_task();
+  // TODO
+  //modules_periodic_task();
   //}
   if (sys_time_check_and_ack_timer(radio_control_tid)) {
     radio_control_periodic_task();
@@ -159,8 +159,7 @@ STATIC_INLINE void main_periodic(void)
       if (fbw_mode == FBW_MODE_MANUAL) {
         fbw_mode = RC_LOST_FBW_MODE;
       } else {
-        if (fbw_mode == FBW_MODE_FAILSAFE)
-        {
+        if (fbw_mode == FBW_MODE_FAILSAFE) {
           // No change: failsafe stays failsafe
         } else {
           // Lost RC while in working Auto mode
@@ -197,8 +196,7 @@ static void autopilot_on_rc_frame(void)
   /* get autopilot fbw mode as set by RADIO_MODE 3-way switch */
   if (radio_control.values[RADIO_FBW_MODE] < (MIN_PPRZ / 2)) {
     fbw_mode = FBW_MODE_MANUAL;
-  }
-  else {
+  } else {
     fbw_mode = FBW_MODE_AUTO;
   }
 
diff --git a/sw/airborne/subsystems/datalink/xbee.c b/sw/airborne/subsystems/datalink/xbee.c
index 0a8864d7db..66aae3e0d4 100644
--- a/sw/airborne/subsystems/datalink/xbee.c
+++ b/sw/airborne/subsystems/datalink/xbee.c
@@ -191,7 +191,8 @@ void xbee_init(void)
 #ifdef XBEE_BAUD_ALTERNATE
 
     // Badly configured... try the alternate baudrate:
-    uart_periph_set_baudrate(&(XBEE_UART), XBEE_BAUD_ALTERNATE); // FIXME add set_baudrate to generic device, assuming uart for now
+    uart_periph_set_baudrate(&(XBEE_UART),
+                             XBEE_BAUD_ALTERNATE); // FIXME add set_baudrate to generic device, assuming uart for now
     if (xbee_try_to_enter_api(dev)) {
       // The alternate baudrate worked,
       print_string(dev, XBEE_ATBD_CODE);
diff --git a/sw/airborne/subsystems/intermcu/intermcu_ap.c b/sw/airborne/subsystems/intermcu/intermcu_ap.c
index 2dd12a1cbb..d7341da04a 100644
--- a/sw/airborne/subsystems/intermcu/intermcu_ap.c
+++ b/sw/airborne/subsystems/intermcu/intermcu_ap.c
@@ -35,7 +35,7 @@ static struct link_device *intermcu_device = (&((INTERMCU_LINK).device));
 static struct pprz_transport intermcu_transport;
 
 struct intermcu_t inter_mcu;
-static inline void intermcu_parse_msg(struct transport_rx * trans, void (*rc_frame_handler)(void));
+static inline void intermcu_parse_msg(struct transport_rx *trans, void (*rc_frame_handler)(void));
 
 void intermcu_init(void)
 {
@@ -55,25 +55,26 @@ void intermcu_periodic(void)
 void intermcu_set_actuators(pprz_t *command_values, uint8_t ap_mode __attribute__((unused)))
 {
   pprz_msg_send_IMCU_COMMANDS(&(intermcu_transport.trans_tx), intermcu_device,
-    INTERMCU_AP, 0, COMMANDS_NB, command_values); //TODO: Fix status
+                              INTERMCU_AP, 0, COMMANDS_NB, command_values); //TODO: Fix status
 }
 
-static inline void intermcu_parse_msg(struct transport_rx * trans, void (*rc_frame_handler)(void))
+static inline void intermcu_parse_msg(struct transport_rx *trans, void (*rc_frame_handler)(void))
 {
   /* Parse the Inter MCU message */
   uint8_t msg_id = trans->payload[1];
   switch (msg_id) {
     case DL_IMCU_RADIO_COMMANDS: {
-        uint8_t i;
-        uint8_t size = DL_IMCU_RADIO_COMMANDS_values_length(trans->payload);
-        int16_t *rc_values = DL_IMCU_RADIO_COMMANDS_values(trans->payload);
-        for(i = 0; i < size; i++)
-          radio_control.values[i] = rc_values[i];
+      uint8_t i;
+      uint8_t size = DL_IMCU_RADIO_COMMANDS_values_length(trans->payload);
+      int16_t *rc_values = DL_IMCU_RADIO_COMMANDS_values(trans->payload);
+      for (i = 0; i < size; i++) {
+        radio_control.values[i] = rc_values[i];
+      }
 
-        radio_control.frame_cpt++;
-        radio_control.time_since_last_frame = 0;
-        radio_control.status = RC_OK;
-        rc_frame_handler();
+      radio_control.frame_cpt++;
+      radio_control.time_since_last_frame = 0;
+      radio_control.status = RC_OK;
+      rc_frame_handler();
       break;
     }
 
diff --git a/sw/airborne/subsystems/intermcu/intermcu_fbw.c b/sw/airborne/subsystems/intermcu/intermcu_fbw.c
index fc2320940f..6dfb1add1f 100644
--- a/sw/airborne/subsystems/intermcu/intermcu_fbw.c
+++ b/sw/airborne/subsystems/intermcu/intermcu_fbw.c
@@ -39,7 +39,7 @@ static struct pprz_transport intermcu_transport;
 
 struct intermcu_t inter_mcu;
 pprz_t intermcu_commands[COMMANDS_NB];
-static inline void intermcu_parse_msg(struct transport_rx * trans, void (*commands_frame_handler)(void));
+static inline void intermcu_parse_msg(struct transport_rx *trans, void (*commands_frame_handler)(void));
 
 void intermcu_init(void)
 {
@@ -59,7 +59,7 @@ void intermcu_periodic(void)
 void intermcu_on_rc_frame(void)
 {
   pprz_msg_send_IMCU_RADIO_COMMANDS(&(intermcu_transport.trans_tx), intermcu_device,
-    INTERMCU_FBW, 0, RADIO_CONTROL_NB_CHANNEL, radio_control.values); //TODO: Fix status
+                                    INTERMCU_FBW, 0, RADIO_CONTROL_NB_CHANNEL, radio_control.values); //TODO: Fix status
 }
 
 void intermcu_send_status(uint8_t mode)
@@ -69,21 +69,22 @@ void intermcu_send_status(uint8_t mode)
   //FIXME
 }
 
-static inline void intermcu_parse_msg(struct transport_rx * trans, void (*commands_frame_handler)(void))
+static inline void intermcu_parse_msg(struct transport_rx *trans, void (*commands_frame_handler)(void))
 {
   /* Parse the Inter MCU message */
   uint8_t msg_id = trans->payload[1];
   switch (msg_id) {
     case DL_IMCU_COMMANDS: {
-        uint8_t i;
-        uint8_t size = DL_IMCU_COMMANDS_values_length(trans->payload);
-        int16_t *new_commands = DL_IMCU_COMMANDS_values(trans->payload);
-        for(i = 0; i < size; i++)
-          intermcu_commands[i] = new_commands[i];
+      uint8_t i;
+      uint8_t size = DL_IMCU_COMMANDS_values_length(trans->payload);
+      int16_t *new_commands = DL_IMCU_COMMANDS_values(trans->payload);
+      for (i = 0; i < size; i++) {
+        intermcu_commands[i] = new_commands[i];
+      }
 
-        inter_mcu.status = INTERMCU_OK;
-        inter_mcu.time_since_last_frame = 0;
-        commands_frame_handler();
+      inter_mcu.status = INTERMCU_OK;
+      inter_mcu.time_since_last_frame = 0;
+      commands_frame_handler();
       break;
     }