diff --git a/src/drivers/uavcan/actuators/esc.hpp b/src/drivers/uavcan/actuators/esc.hpp
index 22ef1f4448..210a23ae14 100644
--- a/src/drivers/uavcan/actuators/esc.hpp
+++ b/src/drivers/uavcan/actuators/esc.hpp
@@ -89,9 +89,6 @@ private:
 	 */
 	uint8_t check_escs_status();
 
-
-
-
 	static constexpr unsigned MAX_RATE_HZ = 200;			///< XXX make this configurable
 	static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 10;
 	static constexpr unsigned UAVCAN_COMMAND_TRANSFER_PRIORITY = 5;	///< 0..31, inclusive, 0 - highest, 31 - lowest
diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp
index a63993b4c5..fab6fc5e69 100644
--- a/src/drivers/uavcan/uavcan_main.cpp
+++ b/src/drivers/uavcan/uavcan_main.cpp
@@ -919,7 +919,6 @@ int UavcanNode::run()
 
 				new_output = true;
 			}
-
 		}
 
 		if (new_output) {
@@ -994,7 +993,6 @@ int UavcanNode::run()
 				_esc_controller.enable_idle_throttle_when_armed(_idle_throttle_when_armed > 0);
 			}
 		}
-
 	}
 
 	orb_unsubscribe(params_sub);
@@ -1125,11 +1123,11 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
 				} else {
 
 					_mixers->groups_required(_groups_required);
-					printf("Groups required %d \n", _groups_required);
+					PX4_INFO("Groups required %d", _groups_required);
 
 					_rotor_count = _mixers->get_multirotor_count();
 					_esc_controller.set_rotor_count(_rotor_count);
-					printf("Number of rotors %d \n", _rotor_count);
+					PX4_INFO("Number of rotors %d", _rotor_count);
 				}
 			}
 		}
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 976a0ee2de..0741debb57 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1634,7 +1634,6 @@ Commander::run()
 			status_flags.condition_escs_error = false;
 		}
 
-
 		estimator_check(&status_changed);
 		airspeed_use_check();