diff --git a/sw/airborne/boards/lisa_l/baro_board.c b/sw/airborne/boards/lisa_l/baro_board.c
index 2c44511285..7407fdcadd 100644
--- a/sw/airborne/boards/lisa_l/baro_board.c
+++ b/sw/airborne/boards/lisa_l/baro_board.c
@@ -110,6 +110,7 @@ void baro_periodic(void)
       break;
     case LBS_INITIALIZING_DIFF_1:
       baro_board.running = true;
+      /* Falls through. */
     case LBS_READ_DIFF:
       baro_board_read_from_current_register(BARO_ABS_ADDR);
       baro_board.status = LBS_READING_ABS;
diff --git a/sw/airborne/filters/median_filter.h b/sw/airborne/filters/median_filter.h
index 354ed84397..309113d638 100644
--- a/sw/airborne/filters/median_filter.h
+++ b/sw/airborne/filters/median_filter.h
@@ -36,11 +36,7 @@ struct MedianFilterInt {
   uint8_t size;
 };
 
-inline void init_median_filter_i(struct MedianFilterInt *filter, uint8_t size);
-inline int32_t update_median_filter_i(struct MedianFilterInt *filter, int32_t new_data);
-inline int32_t get_median_filter_i(struct MedianFilterInt *filter);
-
-inline void init_median_filter_i(struct MedianFilterInt *filter, uint8_t size)
+static inline void init_median_filter_i(struct MedianFilterInt *filter, uint8_t size)
 {
   uint8_t i;
   if (size > MAX_MEDIAN_DATASIZE){
@@ -59,7 +55,17 @@ inline void init_median_filter_i(struct MedianFilterInt *filter, uint8_t size)
   filter->dataIndex = 0;
 }
 
-inline int32_t update_median_filter_i(struct MedianFilterInt *filter, int32_t new_data)
+static inline int32_t get_median_filter_i(struct MedianFilterInt *filter)
+{
+  if (filter->size % 2){
+    return filter->sortData[filter->size >> 1];
+  } else {
+    // this should not be used if init_median_filter was used
+    return (filter->sortData[filter->size / 2] + filter->sortData[filter->size / 2 - 1]) / 2;
+  }
+}
+
+static inline int32_t update_median_filter_i(struct MedianFilterInt *filter, int32_t new_data)
 {
   int temp, i, j; // used to sort array
 
@@ -84,16 +90,6 @@ inline int32_t update_median_filter_i(struct MedianFilterInt *filter, int32_t ne
   return get_median_filter_i(filter);
 }
 
-inline int32_t get_median_filter_i(struct MedianFilterInt *filter)
-{
-  if (filter->size % 2){
-    return filter->sortData[filter->size >> 1];
-  } else {
-    // this should not be used if init_median_filter was used
-    return (filter->sortData[filter->size / 2] + filter->sortData[filter->size / 2 - 1]) / 2;
-  }
-}
-
 struct MedianFilter3Int {
   struct MedianFilterInt mf[3];
 };
@@ -149,11 +145,7 @@ struct MedianFilterFloat {
   uint8_t size;
 };
 
-inline void init_median_filter_f(struct MedianFilterFloat *filter, uint8_t size);
-inline float update_median_filter_f(struct MedianFilterFloat *filter, float new_data);
-inline float get_median_filter_f(struct MedianFilterFloat *filter);
-
-inline void init_median_filter_f(struct MedianFilterFloat *filter, uint8_t size)
+static inline void init_median_filter_f(struct MedianFilterFloat *filter, uint8_t size)
 {
   uint8_t i;
   if (size > MAX_MEDIAN_DATASIZE){
@@ -170,7 +162,17 @@ inline void init_median_filter_f(struct MedianFilterFloat *filter, uint8_t size)
   filter->dataIndex = 0;
 }
 
-inline float update_median_filter_f(struct MedianFilterFloat *filter, float new_data)
+static inline float get_median_filter_f(struct MedianFilterFloat *filter)
+{
+  if (filter->size % 2){
+    return filter->sortData[filter->size >> 1];
+  } else {
+    // this should not be used if init_median_filter was used
+    return (filter->sortData[filter->size / 2] + filter->sortData[filter->size / 2 - 1]) / 2;
+  }
+}
+
+static inline float update_median_filter_f(struct MedianFilterFloat *filter, float new_data)
 {
   float temp;
   int i, j; // used to sort array
@@ -196,16 +198,6 @@ inline float update_median_filter_f(struct MedianFilterFloat *filter, float new_
   return get_median_filter_f(filter);
 }
 
-inline float get_median_filter_f(struct MedianFilterFloat *filter)
-{
-  if (filter->size % 2){
-    return filter->sortData[filter->size >> 1];
-  } else {
-    // this should not be used if init_median_filter was used
-    return (filter->sortData[filter->size / 2] + filter->sortData[filter->size / 2 - 1]) / 2;
-  }
-}
-
 struct MedianFilter3Float {
   struct MedianFilterFloat mf[3];
 };
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
index f44983d59d..1787c4d67b 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
@@ -233,6 +233,7 @@ void guidance_h_mode_changed(uint8_t new_mode)
 
     case GUIDANCE_H_MODE_CARE_FREE:
       stabilization_attitude_reset_care_free_heading();
+      /* Falls through. */
     case GUIDANCE_H_MODE_FORWARD:
     case GUIDANCE_H_MODE_ATTITUDE:
 #if NO_ATTITUDE_RESET_ON_MODE_CHANGE
@@ -366,6 +367,7 @@ void guidance_h_run(bool  in_flight)
       if (transition_percentage < (100 << INT32_PERCENTAGE_FRAC)) {
         transition_run(true);
       }
+      /* Falls through. */
     case GUIDANCE_H_MODE_CARE_FREE:
     case GUIDANCE_H_MODE_ATTITUDE:
       if ((!(guidance_h.mode == GUIDANCE_H_MODE_FORWARD)) && transition_percentage > 0) {
@@ -379,6 +381,7 @@ void guidance_h_run(bool  in_flight)
       guidance_h.sp.heading = guidance_h.rc_sp.psi;
       /* fall trough to GUIDED to update ref, run traj and set final attitude setpoint */
 
+      /* Falls through. */
     case GUIDANCE_H_MODE_GUIDED:
       guidance_h_guided_run(in_flight);
       break;
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
index c6bcd34aaa..3c169935a6 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
@@ -240,6 +240,7 @@ void guidance_v_mode_changed(uint8_t new_mode)
     case GUIDANCE_V_MODE_RC_CLIMB:
     case GUIDANCE_V_MODE_CLIMB:
       guidance_v_zd_sp = 0;
+      /* Falls through. */
     case GUIDANCE_V_MODE_NAV:
       guidance_v_z_sum_err = 0;
       GuidanceVSetRef(stateGetPositionNed_i()->z, stateGetSpeedNed_i()->z, 0);
@@ -326,6 +327,7 @@ void guidance_v_run(bool in_flight)
 
     case GUIDANCE_V_MODE_HOVER:
       guidance_v_guided_mode = GUIDANCE_V_GUIDED_MODE_ZHOLD;
+      /* Falls through. */
     case GUIDANCE_V_MODE_GUIDED:
       guidance_v_guided_run(in_flight);
       break;
diff --git a/sw/airborne/peripherals/adxl345_spi.c b/sw/airborne/peripherals/adxl345_spi.c
index f2b8021d89..1ed9e2c729 100644
--- a/sw/airborne/peripherals/adxl345_spi.c
+++ b/sw/airborne/peripherals/adxl345_spi.c
@@ -145,6 +145,7 @@ void adxl345_spi_event(struct Adxl345_Spi *adxl)
     switch (adxl->spi_trans.status) {
       case SPITransFailed:
         adxl->init_status--; // Retry config (TODO max retry)
+        /* Falls through. */
       case SPITransSuccess:
       case SPITransDone:
         adxl->spi_trans.status = SPITransDone;
diff --git a/sw/airborne/peripherals/mpu60x0_i2c.c b/sw/airborne/peripherals/mpu60x0_i2c.c
index 80ec85cd8c..6d6090bff5 100644
--- a/sw/airborne/peripherals/mpu60x0_i2c.c
+++ b/sw/airborne/peripherals/mpu60x0_i2c.c
@@ -117,6 +117,7 @@ void mpu60x0_i2c_event(struct Mpu60x0_I2c *mpu)
     switch (mpu->i2c_trans.status) {
       case I2CTransFailed:
         mpu->config.init_status--; // Retry config (TODO max retry)
+        /* Falls through. */
       case I2CTransSuccess:
       case I2CTransDone:
         mpu60x0_send_config(mpu60x0_i2c_write_to_reg, (void *)mpu, &(mpu->config));
diff --git a/sw/airborne/peripherals/mpu60x0_spi.c b/sw/airborne/peripherals/mpu60x0_spi.c
index 6952ae0dc2..ae9c386031 100644
--- a/sw/airborne/peripherals/mpu60x0_spi.c
+++ b/sw/airborne/peripherals/mpu60x0_spi.c
@@ -149,6 +149,7 @@ void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu)
     switch (mpu->spi_trans.status) {
       case SPITransFailed:
         mpu->config.init_status--; // Retry config (TODO max retry)
+        /* Falls through. */
       case SPITransSuccess:
       case SPITransDone:
         mpu60x0_send_config(mpu60x0_spi_write_to_reg, (void *)mpu, &(mpu->config));
diff --git a/sw/airborne/subsystems/navigation/common_flight_plan.h b/sw/airborne/subsystems/navigation/common_flight_plan.h
index 59f738b8c1..3154900776 100644
--- a/sw/airborne/subsystems/navigation/common_flight_plan.h
+++ b/sw/airborne/subsystems/navigation/common_flight_plan.h
@@ -43,16 +43,16 @@ void nav_goto_block(uint8_t block_id);
 
 #define InitStage() nav_init_stage();
 
-#define Block(x) case x: nav_block=x;
+#define Block(x) /* Falls through. */ case x: nav_block=x;
 #define NextBlock() nav_goto_block(nav_block + 1)
 #define GotoBlock(b) nav_goto_block(b)
 
-#define Stage(s) case s: nav_stage=s;
+#define Stage(s) /* Falls through. */ case s: nav_stage=s;
 #define NextStage() { nav_stage++; InitStage(); }
 #define NextStageAndBreak() { nav_stage++; InitStage(); break; }
 #define NextStageAndBreakFrom(wp) { last_wp = wp; NextStageAndBreak(); }
 
-#define Label(x) label_ ## x:
+#define Label(x) /* Falls through. */ label_ ## x:
 #define Goto(x) { goto label_ ## x; }
 #define Return(x) { nav_block=last_block; if (x==1) {nav_stage=0;} else {nav_stage=last_stage;} block_time=0;}
 
diff --git a/sw/tools/generators/gen_flight_plan.ml b/sw/tools/generators/gen_flight_plan.ml
index b39aa68ed0..8546ffdee0 100644
--- a/sw/tools/generators/gen_flight_plan.ml
+++ b/sw/tools/generators/gen_flight_plan.ml
@@ -355,6 +355,7 @@ let rec print_stage = fun index_of_waypoints x ->
         lprintf "GotoBlock(%d);\n" (get_index_block (ExtXml.attrib x "block"));
         lprintf "break;\n"
       | "exit_block" ->
+        lprintf "/* Falls through. */\n";
         lprintf "default:\n";
         stage ();
         lprintf "NextBlock();\n";