diff --git a/.rustfmt.toml b/.rustfmt.toml
new file mode 100644
index 0000000..05678a1
--- /dev/null
+++ b/.rustfmt.toml
@@ -0,0 +1,11 @@
+version = "Two"
+use_field_init_shorthand = true
+imports_granularity="Module"
+wrap_comments = true
+use_try_shorthand = true
+format_code_in_doc_comments = true
+format_strings = true
+normalize_comments = true
+normalize_doc_attributes = true
+remove_nested_parens = true
+reorder_impl_items = true
diff --git a/src/info.rs b/src/info.rs
index 1985e4d..6644b2c 100644
--- a/src/info.rs
+++ b/src/info.rs
@@ -1,7 +1,4 @@
-use crate::FromRpcResponse;
-use crate::RequestError;
-use crate::RequestResult;
-use crate::TonicResult;
+use crate::{FromRpcResponse, RequestError, RequestResult, TonicResult};
 
 mod pb {
     tonic::include_proto!("mavsdk.rpc.info");
@@ -92,7 +89,7 @@ impl FromRpcResponse<pb::GetVersionResponse> for GetVersionResult {
     }
 }
 
-#[doc = " Provide infomation about the hardware and/or software of a system."]
+/// Provide infomation about the hardware and/or software of a system.
 pub struct Info {
     service_client: pb::info_service_client::InfoServiceClient<tonic::transport::Channel>,
 }
diff --git a/src/mocap.rs b/src/mocap.rs
index fc963dd..2658ee3 100644
--- a/src/mocap.rs
+++ b/src/mocap.rs
@@ -1,7 +1,4 @@
-use crate::FromRpcResponse;
-use crate::RequestError;
-use crate::RequestResult;
-use crate::TonicResult;
+use crate::{FromRpcResponse, RequestError, RequestResult, TonicResult};
 
 mod pb {
     tonic::include_proto!("mavsdk.rpc.mocap");
@@ -10,7 +7,8 @@ mod pb {
 /// Global position/attitude estimate from a vision source.
 #[derive(Default, Clone, PartialEq, Debug)]
 pub struct VisionPositionEstimate {
-    /// PositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp)
+    /// PositionBody frame timestamp UNIX Epoch time (0 to use Backend
+    /// timestamp)
     pub time_usec: u64,
     /// Global position (m)
     pub position_body: PositionBody,
@@ -34,7 +32,8 @@ impl From<VisionPositionEstimate> for pb::VisionPositionEstimate {
 /// Motion capture attitude and position
 #[derive(Clone, PartialEq, Debug)]
 pub struct AttitudePosition {
-    /// PositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp)
+    /// PositionBody frame timestamp UNIX Epoch time (0 to use Backend
+    /// timestamp)
     pub time_usec: u64,
     /// Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
     pub q: Quaternion,
@@ -55,7 +54,8 @@ impl From<AttitudePosition> for pb::AttitudePositionMocap {
     }
 }
 
-/// Odometry message to communicate odometry mocaprmation with an external interface.
+/// Odometry message to communicate odometry mocaprmation with an external
+/// interface.
 #[derive(Clone, PartialEq, Debug)]
 pub struct Odometry {
     /// Timestamp (0 to use Backend timestamp).
@@ -192,7 +192,6 @@ impl From<Covariance> for pb::Covariance {
     }
 }
 
-///
 /// Quaternion type.
 ///
 /// All rotations and axis systems follow the right-hand rule.
@@ -280,9 +279,9 @@ impl FromRpcResponse<pb::SetVisionPositionEstimateResponse> for SetVisionPositio
     }
 }
 
-#[doc = " Motion Capture allow vehicles to navigate when a global"]
-#[doc = " position source is unavailable or unreliable"]
-#[doc = " (e.g. indoors, or when flying under a bridge. etc.)."]
+/// Motion Capture allow vehicles to navigate when a global
+/// position source is unavailable or unreliable
+/// (e.g. indoors, or when flying under a bridge. etc.).
 pub struct Mocap {
     service_client: pb::mocap_service_client::MocapServiceClient<tonic::transport::Channel>,
 }
diff --git a/src/telemetry.rs b/src/telemetry.rs
index b603701..3de1461 100644
--- a/src/telemetry.rs
+++ b/src/telemetry.rs
@@ -1,5 +1,4 @@
-use crate::RequestError;
-use crate::RequestResult;
+use crate::{RequestError, RequestResult};
 use futures_util::stream::{Stream, StreamExt};
 
 mod pb {
@@ -12,8 +11,8 @@ pub enum MavFrame {
     /// Setpoint in body NED frame. This makes sense if all position control is
     /// externalized - e.g. useful to command 2 m/s^2 acceleration to the right.
     BodyNed = 8,
-    /// Odometry local coordinate frame of data given by a vision estimation system,
-    /// Z-down (x: north, y: east, z: down).
+    /// Odometry local coordinate frame of data given by a vision estimation
+    /// system, Z-down (x: north, y: east, z: down).
     VisionNed = 16,
     /// Odometry local coordinate frame of data given by an estimator running
     /// onboard the vehicle, Z-down (x: north, y: east, z: down).
@@ -27,7 +26,8 @@ pub struct Odometry {
     pub time_usec: u64,
     /// Coordinate frame of reference for the pose data.
     pub frame_id: MavFrame,
-    /// Coordinate frame of reference for the velocity in free space (twist) data.
+    /// Coordinate frame of reference for the velocity in free space (twist)
+    /// data.
     pub child_frame_id: MavFrame,
     /// Position.
     pub position_body: PositionBody,
@@ -165,7 +165,6 @@ impl From<Covariance> for pb::Covariance {
     }
 }
 
-///
 /// Quaternion type.
 ///
 /// All rotations and axis systems follow the right-hand rule.
@@ -234,9 +233,9 @@ impl From<Error> for RequestError<Error> {
     }
 }
 
-#[doc = ""]
-#[doc = " Allow users to get vehicle telemetry and state information"]
-#[doc = " (e.g. battery, GPS, RC connection, flight mode etc.) and set telemetry update rates."]
+/// Allow users to get vehicle telemetry and state information
+/// (e.g. battery, GPS, RC connection, flight mode etc.) and set telemetry
+/// update rates.
 pub struct Telemetry {
     service_client: pb::telemetry_service_client::TelemetryServiceClient<tonic::transport::Channel>,
 }