diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index b04f4ad0de..8bcaf22c4b 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -93,9 +93,9 @@ static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f;
 
 MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_mavlink(parent),
-	status{},
-	hil_local_pos{},
-	hil_land_detector{},
+	_status{},
+	_hil_local_pos{},
+	_hil_land_detector{},
 	_control_mode{},
 	_global_pos_pub(nullptr),
 	_local_pos_pub(nullptr),
@@ -2182,36 +2182,36 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 			_hil_local_proj_inited = true;
 			_hil_local_alt0 = hil_state.alt / 1000.0f;
 			map_projection_init(&_hil_local_proj_ref, lat, lon);
-			hil_local_pos.ref_timestamp = timestamp;
-			hil_local_pos.ref_lat = lat;
-			hil_local_pos.ref_lon = lon;
-			hil_local_pos.ref_alt = _hil_local_alt0;
+			_hil_local_pos.ref_timestamp = timestamp;
+			_hil_local_pos.ref_lat = lat;
+			_hil_local_pos.ref_lon = lon;
+			_hil_local_pos.ref_alt = _hil_local_alt0;
 		}
 
 		float x = 0.0f;
 		float y = 0.0f;
 		map_projection_project(&_hil_local_proj_ref, lat, lon, &x, &y);
-		hil_local_pos.timestamp = timestamp;
-		hil_local_pos.xy_valid = true;
-		hil_local_pos.z_valid = true;
-		hil_local_pos.v_xy_valid = true;
-		hil_local_pos.v_z_valid = true;
-		hil_local_pos.x = x;
-		hil_local_pos.y = y;
-		hil_local_pos.z = _hil_local_alt0 - hil_state.alt / 1000.0f;
-		hil_local_pos.vx = hil_state.vx / 100.0f;
-		hil_local_pos.vy = hil_state.vy / 100.0f;
-		hil_local_pos.vz = hil_state.vz / 100.0f;
+		_hil_local_pos.timestamp = timestamp;
+		_hil_local_pos.xy_valid = true;
+		_hil_local_pos.z_valid = true;
+		_hil_local_pos.v_xy_valid = true;
+		_hil_local_pos.v_z_valid = true;
+		_hil_local_pos.x = x;
+		_hil_local_pos.y = y;
+		_hil_local_pos.z = _hil_local_alt0 - hil_state.alt / 1000.0f;
+		_hil_local_pos.vx = hil_state.vx / 100.0f;
+		_hil_local_pos.vy = hil_state.vy / 100.0f;
+		_hil_local_pos.vz = hil_state.vz / 100.0f;
 		matrix::Eulerf euler = matrix::Quatf(hil_attitude.q);
-		hil_local_pos.yaw = euler.psi();
-		hil_local_pos.xy_global = true;
-		hil_local_pos.z_global = true;
+		_hil_local_pos.yaw = euler.psi();
+		_hil_local_pos.xy_global = true;
+		_hil_local_pos.z_global = true;
 
 		if (_local_pos_pub == nullptr) {
-			_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos);
+			_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &_hil_local_pos);
 
 		} else {
-			orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &hil_local_pos);
+			orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &_hil_local_pos);
 		}
 	}
 
@@ -2219,15 +2219,15 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 	{
 		bool landed = (float)(hil_state.alt) / 1000.0f < (_hil_local_alt0 + 0.1f); // XXX improve?
 
-		if (hil_land_detector.landed != landed) {
-			hil_land_detector.landed = landed;
-			hil_land_detector.timestamp = hrt_absolute_time();
+		if (_hil_land_detector.landed != landed) {
+			_hil_land_detector.landed = landed;
+			_hil_land_detector.timestamp = hrt_absolute_time();
 
 			if (_land_detector_pub == nullptr) {
-				_land_detector_pub = orb_advertise(ORB_ID(vehicle_land_detected), &hil_land_detector);
+				_land_detector_pub = orb_advertise(ORB_ID(vehicle_land_detected), &_hil_land_detector);
 
 			} else {
-				orb_publish(ORB_ID(vehicle_land_detected), _land_detector_pub, &hil_land_detector);
+				orb_publish(ORB_ID(vehicle_land_detected), _land_detector_pub, &_hil_land_detector);
 			}
 		}
 	}
@@ -2434,7 +2434,7 @@ MavlinkReceiver::receive_thread(void *arg)
 			if (_mavlink->get_client_source_initialized()) {
 				/* if read failed, this loop won't execute */
 				for (ssize_t i = 0; i < nread; i++) {
-					if (mavlink_parse_char(_mavlink->get_channel(), buf[i], &msg, &status)) {
+					if (mavlink_parse_char(_mavlink->get_channel(), buf[i], &msg, &_status)) {
 
 						/* check if we received version 2 and request a switch. */
 						if (!(_mavlink->get_status()->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1)) {
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 5f16e7601c..7b144f50c8 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -111,6 +111,9 @@ public:
 	 */
 	void		print_status();
 
+	/**
+	 * Start the receiver thread
+	 */
 	static void receive_start(pthread_t *thread, Mavlink *parent);
 
 	static void *start_helper(void *context);
@@ -192,9 +195,9 @@ private:
 	bool	evaluate_target_ok(int command, int target_system, int target_component);
 
 	Mavlink	*_mavlink;
-	mavlink_status_t status;
-	struct vehicle_local_position_s hil_local_pos;
-	struct vehicle_land_detected_s hil_land_detector;
+	mavlink_status_t _status; ///< receiver status, used for mavlink_parse_char()
+	struct vehicle_local_position_s _hil_local_pos;
+	struct vehicle_land_detected_s _hil_land_detector;
 	struct vehicle_control_mode_s _control_mode;
 	orb_advert_t _global_pos_pub;
 	orb_advert_t _local_pos_pub;
@@ -257,7 +260,6 @@ private:
 	param_t _p_bat_crit_thr;
 	param_t _p_bat_low_thr;
 
-	/* do not allow copying this class */
-	MavlinkReceiver(const MavlinkReceiver &);
-	MavlinkReceiver operator=(const MavlinkReceiver &);
+	MavlinkReceiver(const MavlinkReceiver &) = delete;
+	MavlinkReceiver operator=(const MavlinkReceiver &) = delete;
 };
diff --git a/src/modules/mavlink/mavlink_stream.h b/src/modules/mavlink/mavlink_stream.h
index 028823f16f..5a69a6d79d 100644
--- a/src/modules/mavlink/mavlink_stream.h
+++ b/src/modules/mavlink/mavlink_stream.h
@@ -98,7 +98,7 @@ public:
 
 protected:
 	Mavlink     *_mavlink;
-	unsigned int _interval;		//<<< if set to zero = unlimited rate
+	unsigned int _interval;		///< if set to zero = unlimited rate
 
 #ifndef __PX4_QURT
 	virtual void send(const hrt_abstime t) = 0;