diff --git a/include/board.h b/include/board.h
index 91d28f58..61133899 100644
--- a/include/board.h
+++ b/include/board.h
@@ -93,17 +93,17 @@ class Board
   // Sonar
   virtual bool sonar_present() = 0;
   virtual uint8_t sonar_has_new_data() = 0;
-  virtual bool sonar_read(float *range) =0;
+  virtual bool sonar_read(float *range) = 0;
 
   // GPS
   virtual bool gnss_present() = 0;
   virtual uint8_t gnss_has_new_data() = 0;
-  virtual bool gnss_read( GNSSData *gnss, GNSSFull *gnss_full) = 0;
+  virtual bool gnss_read(GNSSData *gnss, GNSSFull *gnss_full) = 0;
 
   // Battery
-  virtual bool battery_present()  = 0;
-  virtual uint8_t battery_has_new_data()  = 0;  
-  virtual bool battery_read(float *voltage, float* current)  = 0;
+  virtual bool battery_present() = 0;
+  virtual uint8_t battery_has_new_data() = 0;
+  virtual bool battery_read(float *voltage, float *current) = 0;
   virtual void battery_voltage_set_multiplier(double multiplier) = 0;
   virtual void battery_current_set_multiplier(double multiplier) = 0;
 
diff --git a/include/sensors.h b/include/sensors.h
index fcedca51..46914dd4 100644
--- a/include/sensors.h
+++ b/include/sensors.h
@@ -162,7 +162,7 @@ class Sensors : public ParamListenerInterface
     GNSSFull gnss_full;
     float gps_CNO = 0; // What is this?
     bool gnss_present = false;
- 
+
     turbomath::Vector mag = {0, 0, 0};
 
     bool baro_present = false;
diff --git a/src/comm_manager.cpp b/src/comm_manager.cpp
index 172373c5..f28b5a5b 100644
--- a/src/comm_manager.cpp
+++ b/src/comm_manager.cpp
@@ -522,40 +522,57 @@ void CommManager::stream(got_flags got)
 
   // Send out data
 
-  if(got.imu) // Nominally 400Hz
+  if (got.imu) // Nominally 400Hz
   {
     send_imu();
     send_attitude();
-    static uint64_t ro_count=0;
-    if(!((ro_count++)%8)) send_output_raw();      // Raw output at 400Hz/8 = 50Hz
-   }
-
-  if(got.diff_pressure)   send_diff_pressure();   // Pitot sensor
-  if(got.baro)            send_baro();            // Baro altimeter
-  if(got.mag)             send_mag();             // Manetometer
-  if(got.sonar)           send_sonar();           // Height above ground sensor (not enabled)
-  if(got.battery)         send_battery_status();  // Battery V & I
-  if(got.gnss)            send_gnss();            // GPS data (GNSS Packed)
-  if(got.gnss_full)       send_gnss_full();       // GPS full data (not needed)
-  if(got.rc) // report at half the S.Bus rate.
+    static uint64_t ro_count = 0;
+    if (!((ro_count++) % 8))
+      send_output_raw(); // Raw output at 400Hz/8 = 50Hz
+  }
+
+  // Pitot sensor
+  if (got.diff_pressure)
+    send_diff_pressure();
+  // Baro altitude
+  if (got.baro)
+    send_baro();
+  // Magnetometer
+  if (got.mag)
+    send_mag();
+  // Height above ground sensor (not enabled)
+  if (got.sonar)
+    send_sonar();
+  // Battery V & I
+  if (got.battery)
+    send_battery_status();
+  // GPS data (GNSS Packed)
+  if (got.gnss)
+    send_gnss();
+  // GPS full data (not needed)
+  if (got.gnss_full)
+    send_gnss_full();
+  if (got.rc) // report at half the S.Bus rate.
   {
-    static uint64_t rc_count=0;
-    if(!((rc_count++)%2)) send_rc_raw();      	// RC (S.Bus) inputs, scaled 1000-2000
+    static uint64_t rc_count = 0;
+    // RC (S.Bus) inputs, scaled 1000-2000
+    if (!((rc_count++) % 2))
+      send_rc_raw();
   }
 
   {
-  	static uint64_t next_heartbeat = 0, next_status =0;
-
-  	if((time_us)/1000000 >= next_heartbeat ) // 1 Hz
-  	{
-  		send_heartbeat();
-  		next_heartbeat = time_us/1000000+1;
-  	}
-  	if((time_us)/100000 >= next_status ) // 10 Hz
-  	{
-  		send_status();
-  		next_status = time_us/100000+1;
-  	}
+    static uint64_t next_heartbeat = 0, next_status = 0;
+
+    if ((time_us) / 1000000 >= next_heartbeat) // 1 Hz
+    {
+      send_heartbeat();
+      next_heartbeat = time_us / 1000000 + 1;
+    }
+    if ((time_us) / 100000 >= next_status) // 10 Hz
+    {
+      send_status();
+      next_status = time_us / 100000 + 1;
+    }
   }
 
   send_low_priority(); // parameter values and logging messages
@@ -581,9 +598,7 @@ void CommManager::send_next_param(void)
 }
 
 CommManager::Stream::Stream(uint32_t period_us, std::function<void(void)> send_function) :
-  period_us_(period_us),
-  next_time_us_(0),
-  send_function_(send_function)
+  period_us_(period_us), next_time_us_(0), send_function_(send_function)
 {
 }
 
diff --git a/src/param.cpp b/src/param.cpp
index 2287e6d3..3dfa92ec 100644
--- a/src/param.cpp
+++ b/src/param.cpp
@@ -49,10 +49,10 @@
 #endif
 
 // Uncomment to view contents of GIT_VERSION_HASH and GIT_VERSION STRING
-//#define STRINGIFY(s) XSTRINGIFY(s)
-//#define XSTRINGIFY(s) #s
-//#pragma message( "GIT_VERSION_HASH: " STRINGIFY(GIT_VERSION_HASH))
-//#pragma message( "GIT_VERSION_STRING: " GIT_VERSION_STRING)
+// #define STRINGIFY(s) XSTRINGIFY(s)
+// #define XSTRINGIFY(s) #s
+// #pragma message( "GIT_VERSION_HASH: " STRINGIFY(GIT_VERSION_HASH))
+// #pragma message( "GIT_VERSION_STRING: " GIT_VERSION_STRING)
 
 namespace rosflight_firmware
 {
diff --git a/src/rosflight.cpp b/src/rosflight.cpp
index 8f95b9a9..db254d64 100644
--- a/src/rosflight.cpp
+++ b/src/rosflight.cpp
@@ -108,9 +108,9 @@ void ROSflight::run()
   /*********************/
   uint64_t start = board_.clock_micros();
 
-  got_flags got  = sensors_.run(); // IMU, GNSS, Baro, Mag, Pitot, SONAR, Battery
+  got_flags got = sensors_.run(); // IMU, GNSS, Baro, Mag, Pitot, SONAR, Battery
 
-  if(got.imu)
+  if (got.imu)
   {
     estimator_.run();
     controller_.run();
@@ -131,7 +131,8 @@ void ROSflight::run()
   state_manager_.run();
 
   // get RC, synchronous with rc data acquisition
-  if(got.rc) rc_.run();
+  if (got.rc)
+    rc_.run();
 
   // update commands (internal logic tells whether or not we should do anything or not)
   command_manager_.run();
diff --git a/src/sensors.cpp b/src/sensors.cpp
index 8936c17a..a4c88fd5 100644
--- a/src/sensors.cpp
+++ b/src/sensors.cpp
@@ -128,10 +128,10 @@ void Sensors::param_change_callback(uint16_t param_id)
 
 got_flags Sensors::run()
 {
-  memset(&got,0,sizeof(got));
+  memset(&got, 0, sizeof(got));
 
   // IMU:
-  if ((got.imu = rf_.board_.imu_has_new_data())>0)
+  if ((got.imu = rf_.board_.imu_has_new_data()) > 0)
   {
     rf_.state_manager_.clear_error(StateManager::ERROR_IMU_NOT_RESPONDING);
     last_imu_update_ms_ = rf_.board_.clock_millis();
@@ -165,16 +165,15 @@ got_flags Sensors::run()
     accel_int_ += dt * data_.accel;
     gyro_int_ += dt * data_.gyro;
     prev_imu_read_time_us_ = data_.imu_time;
-
   }
 
   // GNSS:
   if (rf_.board_.gnss_present())
   {
     data_.gnss_present = true;
-    if((got.gnss = rf_.board_.gnss_has_new_data())>0)
+    if ((got.gnss = rf_.board_.gnss_has_new_data()) > 0)
     {
-       rf_.board_.gnss_read(&this->data_.gnss_data, &this->data_.gnss_full);
+      rf_.board_.gnss_read(&this->data_.gnss_data, &this->data_.gnss_full);
     }
     got.gnss_full = got.gnss; // bot come with the pvt GPS data
   }
@@ -183,8 +182,8 @@ got_flags Sensors::run()
   if (rf_.board_.baro_present())
   {
     data_.baro_present = true;
-    if((got.baro = rf_.board_.baro_has_new_data())>0)
-    { 
+    if ((got.baro = rf_.board_.baro_has_new_data()) > 0)
+    {
       float raw_pressure;
       float raw_temp;
       rf_.board_.baro_read(&raw_pressure, &raw_temp);
@@ -202,7 +201,7 @@ got_flags Sensors::run()
   {
     data_.mag_present = true;
     float mag[3];
-    if((got.mag=rf_.board_.mag_has_new_data())>0)
+    if ((got.mag = rf_.board_.mag_has_new_data()) > 0)
     {
       rf_.board_.mag_read(mag);
       data_.mag.x = mag[0];
@@ -216,7 +215,7 @@ got_flags Sensors::run()
   if (rf_.board_.diff_pressure_present())
   {
     data_.diff_pressure_present = true;
-    if((got.diff_pressure = rf_.board_.diff_pressure_has_new_data())>0)
+    if ((got.diff_pressure = rf_.board_.diff_pressure_has_new_data()) > 0)
     {
       float raw_pressure;
       float raw_temp;
@@ -234,33 +233,33 @@ got_flags Sensors::run()
   if (rf_.board_.sonar_present())
   {
     data_.sonar_present = true;
-    if((got.sonar = rf_.board_.sonar_has_new_data())>0)
+    if ((got.sonar = rf_.board_.sonar_has_new_data()) > 0)
     {
       float raw_distance;
-      rf_.board_.sonar_read( &raw_distance);
+      rf_.board_.sonar_read(&raw_distance);
       data_.sonar_range_valid = sonar_outlier_filt_.update(raw_distance, &data_.sonar_range);
     }
   }
 
   // BATTERY_MONITOR:
-  if((got.battery = rf_.board_.battery_has_new_data())>0)
+  if ((got.battery = rf_.board_.battery_has_new_data()) > 0)
   {
     last_battery_monitor_update_ms_ = rf_.board_.clock_millis();
     update_battery_monitor();
   }
 
   // RC
-  if((got.rc = rf_.board_.rc_has_new_data())>0)
+  if ((got.rc = rf_.board_.rc_has_new_data()) > 0)
   {
     rf_.board_.rc_read(0);
   }
 
-    return got;
+  return got;
 }
 
-void Sensors::update_other_sensors(){}
+void Sensors::update_other_sensors() {}
 
-void Sensors::look_for_disabled_sensors(){}
+void Sensors::look_for_disabled_sensors() {}
 
 bool Sensors::start_imu_calibration(void)
 {
@@ -312,7 +311,7 @@ bool Sensors::gyro_calibration_complete(void)
 bool Sensors::update_imu(void)
 {
   bool new_data;
-  if ((new_data = rf_.board_.imu_has_new_data())>0)
+  if ((new_data = rf_.board_.imu_has_new_data()) > 0)
   {
     rf_.state_manager_.clear_error(StateManager::ERROR_IMU_NOT_RESPONDING);
     last_imu_update_ms_ = rf_.board_.clock_millis();
@@ -345,9 +344,8 @@ bool Sensors::update_imu(void)
     accel_int_ += dt * data_.accel;
     gyro_int_ += dt * data_.gyro;
     prev_imu_read_time_us_ = data_.imu_time;
-
-   }
-   return new_data;
+  }
+  return new_data;
 }
 
 void Sensors::get_filtered_IMU(turbomath::Vector &accel, turbomath::Vector &gyro, uint64_t &stamp_us)
@@ -365,8 +363,8 @@ void Sensors::update_battery_monitor()
 {
   if (rf_.board_.battery_present())
   {
-    float battery_voltage,battery_current;
-    rf_.board_.battery_read(&battery_voltage,&battery_current);
+    float battery_voltage, battery_current;
+    rf_.board_.battery_read(&battery_voltage, &battery_current);
     data_.battery_monitor_present = true;
     data_.battery_voltage = battery_voltage;
     data_.battery_current = battery_current;