diff --git a/src/drivers/mpu9250/mag.cpp b/src/drivers/mpu9250/mag.cpp
index c4e8a66c9e..49bb4bb855 100755
--- a/src/drivers/mpu9250/mag.cpp
+++ b/src/drivers/mpu9250/mag.cpp
@@ -154,9 +154,11 @@ MPU9250_mag::~MPU9250_mag()
 	if (_mag_class_instance != -1) {
 		unregister_class_devname(MAG_BASE_DEVICE_PATH, _mag_class_instance);
 	}
+
 	if (_mag_reports != nullptr) {
 		delete _mag_reports;
 	}
+
 	perf_free(_mag_reads);
 }
 
@@ -174,6 +176,7 @@ MPU9250_mag::init()
 	}
 
 	_mag_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report));
+
 	if (_mag_reports == nullptr) {
 		goto out;
 	}
@@ -187,7 +190,7 @@ MPU9250_mag::init()
 	_mag_reports->get(&mrp);
 
 	_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrp,
-			   &_mag_orb_class_instance, ORB_PRIO_LOW);
+					 &_mag_orb_class_instance, ORB_PRIO_LOW);
 //			   &_mag_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
 
 	if (_mag_topic == nullptr) {
@@ -208,15 +211,18 @@ MPU9250_mag::measure(struct ak8963_regs data)
 			_parent->write_reg(MPUREG_I2C_SLV0_CTRL, BIT_I2C_SLVO_EN | sizeof(struct ak8963_regs));
 			_mag_reading_data = true;
 			return;
+
 		} else {
 			_parent->write_reg(MPUREG_I2C_SLV0_CTRL, BIT_I2C_SLVO_EN | 1);
 			_mag_reading_data = false;
 		}
+
 	} else {
 		if (true == _mag_reading_data) {
 			_parent->write_reg(MPUREG_I2C_SLV0_CTRL, BIT_I2C_SLVO_EN | 1);
 			_mag_reading_data = false;
 		}
+
 		return;
 	}
 
@@ -294,6 +300,7 @@ MPU9250_mag::read(struct file *filp, char *buffer, size_t buflen)
 		if (!_mag_reports->get(mrp)) {
 			break;
 		}
+
 		transferred++;
 		mrp++;
 	}
@@ -345,6 +352,7 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
 					if (MPU9250_AK8963_SAMPLE_RATE != arg) {
 						return -EINVAL;
 					}
+
 					return OK;
 				}
 			}
@@ -378,6 +386,7 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
 		return MPU9250_AK8963_SAMPLE_RATE;
 
 	case MAGIOCSSAMPLERATE:
+
 		/*
 		 * We don't currently support any means of changing
 		 * the sampling rate of the mag
@@ -385,6 +394,7 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
 		if (MPU9250_AK8963_SAMPLE_RATE != arg) {
 			return -EINVAL;
 		}
+
 		return OK;
 
 	case MAGIOCSSCALE:
@@ -407,11 +417,13 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
 		return self_test();
 
 #ifdef MAGIOCSHWLOWPASS
+
 	case MAGIOCSHWLOWPASS:
 		return -EINVAL;
 #endif
 
 #ifdef MAGIOCGHWLOWPASS
+
 	case MAGIOCGHWLOWPASS:
 		return -EINVAL;
 #endif
@@ -433,12 +445,15 @@ MPU9250_mag::set_passthrough(uint8_t reg, uint8_t size, uint8_t *out)
 	uint8_t addr;
 
 	_parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // ensure slave r/w is disabled before changing the registers
+
 	if (out) {
 		_parent->write_reg(MPUREG_I2C_SLV0_D0, *out);
 		addr = AK8963_I2C_ADDR;
+
 	} else {
 		addr = AK8963_I2C_ADDR | BIT_I2C_READ_FLAG;
 	}
+
 	_parent->write_reg(MPUREG_I2C_SLV0_ADDR, addr);
 	_parent->write_reg(MPUREG_I2C_SLV0_REG,  reg);
 	_parent->write_reg(MPUREG_I2C_SLV0_CTRL, size | BIT_I2C_SLVO_EN);
@@ -470,10 +485,12 @@ MPU9250_mag::ak8963_check_id(void)
 	for (int i = 0; i < 5; i++) {
 		uint8_t deviceid = 0;
 		passthrough_read(AK8963REG_WIA, &deviceid, 0x01);
+
 		if (AK8963_DEVICE_ID == deviceid) {
 			return true;
 		}
 	}
+
 	return false;
 }
 /*
@@ -503,13 +520,16 @@ MPU9250_mag::ak8963_read_adjustments(void)
 	usleep(50);
 	passthrough_read(AK8963REG_ASAX, response, 3);
 	passthrough_write(AK8963REG_CNTL1, AK8963_POWERDOWN_MODE);
+
 	for (int i = 0; i < 3; i++) {
 		if (0 != response[i] && 0xff != response[i]) {
 			ak8963_ASA[i] = ((float)(response[i] - 128) / 256.0f) + 1.0f;
+
 		} else {
 			return false;
 		}
 	}
+
 	_mag_asa_x = ak8963_ASA[0];
 	_mag_asa_y = ak8963_ASA[1];
 	_mag_asa_z = ak8963_ASA[2];
diff --git a/src/drivers/mpu9250/mag.h b/src/drivers/mpu9250/mag.h
index e735c05af9..e7d8c34b97 100644
--- a/src/drivers/mpu9250/mag.h
+++ b/src/drivers/mpu9250/mag.h
@@ -34,13 +34,13 @@
 class MPU9250;
 
 #pragma pack(push, 1)
-	struct ak8963_regs {
-		uint8_t st1;
-		int16_t x;
-		int16_t y;
-		int16_t z;
-		uint8_t st2;
-	};
+struct ak8963_regs {
+	uint8_t st1;
+	int16_t x;
+	int16_t y;
+	int16_t z;
+	uint8_t st2;
+};
 #pragma pack(pop)
 
 /**
diff --git a/src/drivers/mpu9250/main.cpp b/src/drivers/mpu9250/main.cpp
index efab0cedfb..d178175cf3 100644
--- a/src/drivers/mpu9250/main.cpp
+++ b/src/drivers/mpu9250/main.cpp
@@ -117,7 +117,7 @@ start(bool external_bus, enum Rotation rotation)
 	const char *path_mag   = external_bus ? MPU_DEVICE_PATH_MAG_EXT : MPU_DEVICE_PATH_MAG;
 
 	if (*g_dev_ptr != nullptr)
-	/* if already started, the still command succeeded */
+		/* if already started, the still command succeeded */
 	{
 		errx(0, "already started");
 	}
@@ -202,8 +202,9 @@ test(bool external_bus)
 	/* get the driver */
 	int fd = open(path_accel, O_RDONLY);
 
-	if (fd < 0)
+	if (fd < 0) {
 		err(1, "%s open failed (try 'm start')", path_accel);
+	}
 
 	/* get the driver */
 	int fd_gyro = open(path_gyro, O_RDONLY);
@@ -344,7 +345,7 @@ info(bool external_bus)
 void
 regdump(bool external_bus)
 {
-    MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
+	MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
 
 	if (*g_dev_ptr == nullptr) {
 		errx(1, "driver not running");
diff --git a/src/drivers/mpu9250/mpu9250.cpp b/src/drivers/mpu9250/mpu9250.cpp
index 3d8fbad58b..738ebd0874 100644
--- a/src/drivers/mpu9250/mpu9250.cpp
+++ b/src/drivers/mpu9250/mpu9250.cpp
@@ -213,7 +213,8 @@ const uint8_t MPU9250::_checked_registers[MPU9250_NUM_CHECKED_REGISTERS] = { MPU
 									   };
 
 
-MPU9250::MPU9250(int bus, const char *path_accel, const char *path_gyro, const char *path_mag, spi_dev_e device, enum Rotation rotation) :
+MPU9250::MPU9250(int bus, const char *path_accel, const char *path_gyro, const char *path_mag, spi_dev_e device,
+		 enum Rotation rotation) :
 	SPI("MPU9250", path_accel, bus, device, SPIDEV_MODE3, MPU9250_LOW_BUS_SPEED),
 	_gyro(new MPU9250_gyro(this, path_gyro)),
 	_mag(new MPU9250_mag(this, path_mag)),
@@ -340,6 +341,7 @@ MPU9250::init()
 	}
 
 	ret = probe();
+
 	if (ret != OK) {
 		DEVICE_DEBUG("MPU9250 probe failed");
 		return ret;
@@ -1235,7 +1237,7 @@ MPU9250::check_registers(void)
 	_checked_next = (_checked_next + 1) % MPU9250_NUM_CHECKED_REGISTERS;
 }
 
-bool MPU9250::check_null_data(uint32_t* data, uint8_t size)
+bool MPU9250::check_null_data(uint32_t *data, uint8_t size)
 {
 	while (size--) {
 		if (*data++) {
@@ -1243,6 +1245,7 @@ bool MPU9250::check_null_data(uint32_t* data, uint8_t size)
 			return false;
 		}
 	}
+
 	// all zero data - probably a SPI bus error
 	perf_count(_bad_transfers);
 	perf_end(_sample_perf);
@@ -1253,7 +1256,7 @@ bool MPU9250::check_null_data(uint32_t* data, uint8_t size)
 	return true;
 }
 
-bool MPU9250::check_duplicate(uint8_t* accel_data)
+bool MPU9250::check_duplicate(uint8_t *accel_data)
 {
 	/*
 	   see if this is duplicate accelerometer data. Note that we
@@ -1268,10 +1271,12 @@ bool MPU9250::check_duplicate(uint8_t* accel_data)
 		perf_end(_sample_perf);
 		perf_count(_duplicates);
 		_got_duplicate = true;
+
 	} else {
 		memcpy(&_last_accel_data, accel_data, sizeof(_last_accel_data));
 		_got_duplicate = false;
 	}
+
 	return _got_duplicate;
 }
 
@@ -1329,7 +1334,7 @@ MPU9250::measure()
 	report.gyro_y  = int16_t_from_bytes(mpu_report.gyro_y);
 	report.gyro_z  = int16_t_from_bytes(mpu_report.gyro_z);
 
-	if (check_null_data((uint32_t*)&report, sizeof(report) / 4)) {
+	if (check_null_data((uint32_t *)&report, sizeof(report) / 4)) {
 		return;
 	}
 
diff --git a/src/drivers/mpu9250/mpu9250.h b/src/drivers/mpu9250/mpu9250.h
index e3e27bb955..ecbf894db0 100644
--- a/src/drivers/mpu9250/mpu9250.h
+++ b/src/drivers/mpu9250/mpu9250.h
@@ -20,7 +20,8 @@ class MPU9250_gyro;
 class MPU9250 : public device::SPI
 {
 public:
-	MPU9250(int bus, const char *path_accel, const char *path_gyro, const char *path_mag, spi_dev_e device, enum Rotation rotation);
+	MPU9250(int bus, const char *path_accel, const char *path_gyro, const char *path_mag, spi_dev_e device,
+		enum Rotation rotation);
 	virtual ~MPU9250();
 
 	virtual int		init();
@@ -110,8 +111,8 @@ private:
 	// last temperature reading for print_info()
 	float			_last_temperature;
 
-	bool check_null_data(uint32_t* data, uint8_t size);
-	bool check_duplicate(uint8_t* accel_data);
+	bool check_null_data(uint32_t *data, uint8_t size);
+	bool check_duplicate(uint8_t *accel_data);
 	// keep last accel reading for duplicate detection
 	uint8_t			_last_accel_data[6];
 	bool			_got_duplicate;