diff --git a/.travis.yml b/.travis.yml
index 31f85ade3d..dd4e5b4401 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -87,17 +87,17 @@ env:
     - PX4_AWS_BUCKET=px4-travis
 
 script:
-  #- make check_format
+  - make check_format
   - arm-none-eabi-gcc --version
   - echo 'Building POSIX Firmware..' && echo -en 'travis_fold:start:script.1\\r'
-  - make posix_sitl_simple -j4
+  - make posix_sitl_simple
   - echo -en 'travis_fold:end:script.1\\r'
   - echo 'Running Tests..' && echo -en 'travis_fold:start:script.2\\r'
   - make posix_sitl_simple test
   - cat build_posix_sitl_simple/src/modules/systemlib/mixer/mixer_multirotor.generated.h
   - echo -en 'travis_fold:end:script.2\\r'
   - echo 'Building NuttX Firmware..' && echo -en 'travis_fold:start:script.3\\r'
-  - make px4fmu-v2_default -j4
+  - make px4fmu-v2_default
   - echo -en 'travis_fold:end:script.3\\r'
   - echo 'Running Tests..' && echo -en 'travis_fold:start:script.4\\r'
   - make px4fmu-v2_default test
diff --git a/Makefile b/Makefile
index 1d2cd152ff..1e4546a3f7 100644
--- a/Makefile
+++ b/Makefile
@@ -59,12 +59,24 @@ all: px4fmu-v2_default
 ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
 j ?= 4
 
+# disable ninja by default for now because it hides upload progress
+#NINJA_BUILD := $(shell ninja --version 2>/dev/null)
+ifdef NINJA_BUILD
+    PX4_CMAKE_GENERATOR ?= "Ninja"
+    PX4_MAKE = ninja
+    PX4_MAKE_ARGS = 
+else
+    PX4_CMAKE_GENERATOR ?= "Unix Makefiles"
+    PX4_MAKE = make
+    PX4_MAKE_ARGS = -j$(j) --no-print-directory
+endif
+
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-+mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G"Unix Makefiles" -DCONFIG=$(1)
-+make -j$(j) -C $(PWD)/build_$@ --no-print-directory $(ARGS)
++@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
++$(PX4_MAKE) -C $(PWD)/build_$@ $(PX4_MAKE_ARGS) $(ARGS)
 endef
 
 # create empty targets to avoid msgs for targets passed to cmake
@@ -141,6 +153,9 @@ sitl_ros:
 
 # Other targets
 # --------------------------------------------------------------------
+check_format:
+	@./Tools/check_code_style.sh
+
 clean:
 	@rm -rf build_*/
 
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 797cb14fc1..22cc19c0fe 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -482,14 +482,15 @@ function(px4_add_common_flags)
 
 	set(warnings
 		-Wall
+		-Werror
 		-Wno-sign-compare
 		-Wextra
 		#-Wshadow # very verbose due to eigen
 		-Wfloat-equal
 		-Wpointer-arith
 		-Wmissing-declarations
-		-Wpacked
 		-Wno-unused-parameter
+		-Wno-varargs
 		-Werror=format-security
 		-Werror=array-bounds
 		-Wfatal-errors
@@ -505,7 +506,7 @@ function(px4_add_common_flags)
 		#               but generates too many false positives
 		)
 
-	if (NOT ${OS} STREQUAL "qurt")
+	if (${OS} STREQUAL "nuttx")
 		list(APPEND warnings -Wframe-larger-than=1024)
 	endif()
 
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index 89ec3d44c2..13d120af26 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -213,8 +213,7 @@ function(px4_nuttx_add_export)
 	# copy
 	add_custom_command(OUTPUT nuttx_copy_${CONFIG}.stamp
 		COMMAND ${MKDIR} -p ${CMAKE_BINARY_DIR}/${CONFIG}
-		COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/NuttX ${nuttx_src}
-		COMMAND ${RM} -rf ${nuttx_src}/.git
+		COMMAND rsync -a --exclude=.git ${CMAKE_SOURCE_DIR}/NuttX/ ${nuttx_src}/
 		COMMAND ${TOUCH} nuttx_copy_${CONFIG}.stamp
 		DEPENDS ${DEPENDS})
 	add_custom_target(__nuttx_copy_${CONFIG}
@@ -222,27 +221,22 @@ function(px4_nuttx_add_export)
 
 	# export
 	file(GLOB_RECURSE config_files ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
-	add_custom_command(OUTPUT ${CONFIG}.export
+	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/${CONFIG}.export
 		COMMAND ${ECHO} Configuring NuttX for ${CONFIG}
-		COMMAND ${MAKE} -C${nuttx_src}/nuttx -j${THREADS}
-			-r --quiet distclean
-		COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}
-			${nuttx_src}/nuttx/configs
-		COMMAND cd ${nuttx_src}/nuttx/tools &&
-			./configure.sh ${CONFIG}/nsh
+		COMMAND ${MAKE} --no-print-directory -C${nuttx_src}/nuttx -r --quiet distclean
+		COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
+		COMMAND cd ${nuttx_src}/nuttx/tools && ./configure.sh ${CONFIG}/nsh
 		COMMAND ${ECHO} Exporting NuttX for ${CONFIG}
-		COMMAND ${MAKE} -C ${nuttx_src}/nuttx -j${THREADS}
-			-r CONFIG_ARCH_BOARD=${CONFIG} export
-		COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip
-			${CONFIG}.export
+		COMMAND ${MAKE} --no-print-directory --quiet -C ${nuttx_src}/nuttx -j${THREADS} -r CONFIG_ARCH_BOARD=${CONFIG} export
+		COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${CMAKE_BINARY_DIR}/${CONFIG}.export
 		DEPENDS ${config_files} ${DEPENDS} __nuttx_copy_${CONFIG})
 
 	# extract
 	add_custom_command(OUTPUT nuttx_export_${CONFIG}.stamp
 		COMMAND ${RM} -rf ${nuttx_src}/nuttx-export
-		COMMAND ${UNZIP} ${CONFIG}.export -d ${nuttx_src}
+		COMMAND ${UNZIP} -q ${CMAKE_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src}
 		COMMAND ${TOUCH} nuttx_export_${CONFIG}.stamp
-		DEPENDS ${DEPENDS} ${CONFIG}.export)
+		DEPENDS ${DEPENDS} ${CMAKE_BINARY_DIR}/${CONFIG}.export)
 
 	add_custom_target(${OUT}
 		DEPENDS nuttx_export_${CONFIG}.stamp)
diff --git a/cmake/toolchains/Toolchain-posix-clang-native.cmake b/cmake/toolchains/Toolchain-posix-clang-native.cmake
index 544f61f826..0945b2b1f5 100644
--- a/cmake/toolchains/Toolchain-posix-clang-native.cmake
+++ b/cmake/toolchains/Toolchain-posix-clang-native.cmake
@@ -1,6 +1,7 @@
 
 set(WARNINGS
     -Wall
+    -Werror
     -Wextra
     -Wdouble-promotion
     -Wshadow
@@ -25,6 +26,7 @@ set(WARNINGS
     -Werror=unused-private-field
     -Wno-packed
     -Wno-frame-larger-than=
+    -Wno-varargs
     #-Wcast-qual  - generates spurious noreturn attribute warnings,
     #               try again later
     #-Wconversion - would be nice, but too many "risky-but-safe"
@@ -58,6 +60,7 @@ set(C_FLAGS
 #
 set(CXX_WARNINGS
 	-Wno-missing-field-initializers
+	-Wno-varargs
 	)
 set(CXX_FLAGS
 	-fno-exceptions
diff --git a/src/drivers/px4flow/i2c_frame.h b/src/drivers/px4flow/i2c_frame.h
index a682c5f3de..43e10e417c 100644
--- a/src/drivers/px4flow/i2c_frame.h
+++ b/src/drivers/px4flow/i2c_frame.h
@@ -41,7 +41,7 @@
 #ifndef I2C_FRAME_H_
 #define I2C_FRAME_H_
 
-#define __STDC_FORMAT_MACROS 1
+#define __STDC_FORMAT_MACROS
 #include <inttypes.h>
 
 typedef  struct i2c_frame
diff --git a/src/drivers/px4fmu/CMakeLists.txt b/src/drivers/px4fmu/CMakeLists.txt
index 335da06c1e..492aad5939 100644
--- a/src/drivers/px4fmu/CMakeLists.txt
+++ b/src/drivers/px4fmu/CMakeLists.txt
@@ -35,7 +35,6 @@ px4_add_module(
 	MAIN fmu
 	STACK 1200
 	COMPILE_FLAGS
-		-Weffc++
 		-Os
 	SRCS
 		fmu.cpp
diff --git a/src/drivers/px4io/CMakeLists.txt b/src/drivers/px4io/CMakeLists.txt
index 818d2c33d6..5c180c6f82 100644
--- a/src/drivers/px4io/CMakeLists.txt
+++ b/src/drivers/px4io/CMakeLists.txt
@@ -35,7 +35,6 @@ px4_add_module(
 	MAIN px4io
 	STACK 1200
 	COMPILE_FLAGS
-		-Weffc++
 		-Os
 	SRCS
 		px4io.cpp
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.cpp b/src/lib/launchdetection/CatapultLaunchMethod.cpp
index f13c7c4bfe..b5692cc7e7 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.cpp
+++ b/src/lib/launchdetection/CatapultLaunchMethod.cpp
@@ -79,7 +79,7 @@ void CatapultLaunchMethod::update(float accel_x)
 				if (motorDelay.get() > 0.0f) {
 					state = LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL;
 					warnx("Launch detected: enablecontrol, waiting %8.4fs until full throttle",
-						double(motorDelay.get()));
+					      double(motorDelay.get()));
 
 				} else {
 					/* No motor delay set: go directly to enablemotors state */
diff --git a/src/modules/attitude_estimator_ekf/CMakeLists.txt b/src/modules/attitude_estimator_ekf/CMakeLists.txt
index 2c037d46bb..8c68904661 100644
--- a/src/modules/attitude_estimator_ekf/CMakeLists.txt
+++ b/src/modules/attitude_estimator_ekf/CMakeLists.txt
@@ -35,9 +35,7 @@ px4_add_module(
 	MAIN attitude_estimator_ekf
 	STACK 1200
 	COMPILE_FLAGS
-		-Wframe-larger-than=2400
 		-Wno-float-equal
-		
 	SRCS
 		attitude_estimator_ekf_main.cpp
 		codegen/AttitudeEKF.c
diff --git a/src/modules/attitude_estimator_q/CMakeLists.txt b/src/modules/attitude_estimator_q/CMakeLists.txt
index b4726b5c89..c74993ad67 100644
--- a/src/modules/attitude_estimator_q/CMakeLists.txt
+++ b/src/modules/attitude_estimator_q/CMakeLists.txt
@@ -31,15 +31,13 @@
 #
 #############################################################################
 set(MODULE_CFLAGS)
-if (NOT ${OS} STREQUAL "qurt")
-	list(APPEND MODULE_CFLAGS
-		-Wframe-larger-than=1400)
+if (${OS} STREQUAL "nuttx")
+	list(APPEND MODULE_CFLAGS -Wframe-larger-than=1400)
 endif()
 px4_add_module(
 	MODULE modules__attitude_estimator_q
 	MAIN attitude_estimator_q
-	COMPILE_FLAGS
-		${MODULE_CFLAGS}
+	COMPILE_FLAGS ${MODULE_CFLAGS}
 	STACK 1200
 	SRCS
 		attitude_estimator_q_main.cpp
diff --git a/src/modules/commander/CMakeLists.txt b/src/modules/commander/CMakeLists.txt
index 7cd5b045ef..d5c4aa0f12 100644
--- a/src/modules/commander/CMakeLists.txt
+++ b/src/modules/commander/CMakeLists.txt
@@ -31,10 +31,8 @@
 #
 ############################################################################
 set(MODULE_CFLAGS -Os)
-
-if(NOT ${OS} STREQUAL "qurt")
-	list(APPEND MODULE_CFLAGS
-		-Wframe-larger-than=2200)
+if(${OS} STREQUAL "nuttx")
+	list(APPEND MODULE_CFLAGS -Wframe-larger-than=2300)
 endif()
 px4_add_module(
 	MODULE modules__commander
diff --git a/src/modules/ekf_att_pos_estimator/CMakeLists.txt b/src/modules/ekf_att_pos_estimator/CMakeLists.txt
index 5a70282103..907bb31ff3 100644
--- a/src/modules/ekf_att_pos_estimator/CMakeLists.txt
+++ b/src/modules/ekf_att_pos_estimator/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-set(MODULE_CFLAGS -Weffc++)
+set(MODULE_CFLAGS )
 if(NOT ${OS} STREQUAL "qurt")
 	list(APPEND MODULE_CFLAGS -Wframe-larger-than=3400)
 endif()
diff --git a/src/modules/land_detector/CMakeLists.txt b/src/modules/land_detector/CMakeLists.txt
index 37030f1795..f18b3ed187 100644
--- a/src/modules/land_detector/CMakeLists.txt
+++ b/src/modules/land_detector/CMakeLists.txt
@@ -35,9 +35,7 @@ px4_add_module(
 	MAIN land_detector
 	STACK 1200
 	COMPILE_FLAGS
-		-Weffc++
 		-Os
-		
 	SRCS
 		land_detector_main.cpp
 		land_detector_params.c
diff --git a/src/modules/mavlink/CMakeLists.txt b/src/modules/mavlink/CMakeLists.txt
index f9897dd194..c8a0e7d870 100644
--- a/src/modules/mavlink/CMakeLists.txt
+++ b/src/modules/mavlink/CMakeLists.txt
@@ -30,16 +30,20 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+if (${OS} STREQUAL "nuttx")
+	list(APPEND MODULE_CFLAGS -Wframe-larger-than=1500)
+endif()
 px4_add_module(
 	MODULE modules__mavlink
 	MAIN mavlink
 	STACK 1200
 	COMPILE_FLAGS
-		-Weffc++
+		${MODULE_CFLAGS}
 		-Wno-attributes
 		-Wno-packed
 		-DMAVLINK_COMM_NUM_BUFFERS=3
 		-Wno-packed
+		-Wno-tautological-constant-out-of-range-compare
 		-Os
 	SRCS
 		mavlink.c
diff --git a/src/modules/mc_att_control/CMakeLists.txt b/src/modules/mc_att_control/CMakeLists.txt
index 3f4aeed93f..3c08772766 100644
--- a/src/modules/mc_att_control/CMakeLists.txt
+++ b/src/modules/mc_att_control/CMakeLists.txt
@@ -30,10 +30,14 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+if (${OS} STREQUAL "nuttx")
+	list(APPEND MODULE_CFLAGS -Wframe-larger-than=3500)
+endif()
 px4_add_module(
 	MODULE modules__mc_att_control
 	MAIN mc_att_control
 	STACK 1200
+	COMPILE_FLAGS ${MODULE_CFLAGS}
 	SRCS
 		mc_att_control_main.cpp
 		mc_att_control_params.c
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control.cpp b/src/modules/mc_att_control_multiplatform/mc_att_control.cpp
index 63515f497d..98435a08f0 100644
--- a/src/modules/mc_att_control_multiplatform/mc_att_control.cpp
+++ b/src/modules/mc_att_control_multiplatform/mc_att_control.cpp
@@ -64,11 +64,9 @@ static const int ERROR = -1;
 
 MulticopterAttitudeControlMultiplatform::MulticopterAttitudeControlMultiplatform() :
 	MulticopterAttitudeControlBase(),
-	_task_should_exit(false),
 	_actuators_0_circuit_breaker_enabled(false),
 
 	/* publications */
-	_att_sp_pub(nullptr),
 	_v_rates_sp_pub(nullptr),
 	_actuators_0_pub(nullptr),
 	_n(_appState),
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control.h b/src/modules/mc_att_control_multiplatform/mc_att_control.h
index de059fc9f3..12d4beadfc 100644
--- a/src/modules/mc_att_control_multiplatform/mc_att_control.h
+++ b/src/modules/mc_att_control_multiplatform/mc_att_control.h
@@ -85,10 +85,8 @@ public:
 	void spin() { _n.spin(); }
 
 private:
-	bool		_task_should_exit;			/**< if true, sensor task should exit */
 	bool		_actuators_0_circuit_breaker_enabled;	/**< circuit breaker to suppress output */
 
-	px4::Publisher<px4_vehicle_attitude_setpoint> 	*_att_sp_pub;			/**< attitude setpoint publication */
 	px4::Publisher<px4_vehicle_rates_setpoint> 	*_v_rates_sp_pub;		/**< rate setpoint publication */
 	px4::Publisher<px4_actuator_controls_0> 	*_actuators_0_pub;		/**< attitude actuator controls publication */
 
diff --git a/src/modules/mc_pos_control_multiplatform/CMakeLists.txt b/src/modules/mc_pos_control_multiplatform/CMakeLists.txt
index 28c2d0948a..f36acf4e33 100644
--- a/src/modules/mc_pos_control_multiplatform/CMakeLists.txt
+++ b/src/modules/mc_pos_control_multiplatform/CMakeLists.txt
@@ -33,9 +33,6 @@
 px4_add_module(
 	MODULE modules__mc_pos_control_multiplatform
 	MAIN mc_pos_control_m
-	COMPILE_FLAGS
-		-Wframe-larger-than=1200
-		
 	SRCS
 		mc_pos_control_main.cpp
 		mc_pos_control_start_nuttx.cpp
diff --git a/src/modules/position_estimator_inav/CMakeLists.txt b/src/modules/position_estimator_inav/CMakeLists.txt
index 0e801603a8..90ab4ad74c 100644
--- a/src/modules/position_estimator_inav/CMakeLists.txt
+++ b/src/modules/position_estimator_inav/CMakeLists.txt
@@ -30,8 +30,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-set(MODULE_CFLAGS)
-if(NOT ${OS} STREQUAL "qurt")
+if(${OS} STREQUAL "nuttx")
 	list(APPEND MODULE_CFLAGS -Wframe-larger-than=3800)
 endif()
 px4_add_module(
@@ -39,7 +38,6 @@ px4_add_module(
 	MAIN position_estimator_inav
 	STACK 1200
 	COMPILE_FLAGS ${MODULE_CFLAGS}
-		
 	SRCS
 		position_estimator_inav_main.c
 		position_estimator_inav_params.c
diff --git a/src/modules/sdlog2/CMakeLists.txt b/src/modules/sdlog2/CMakeLists.txt
index ddc1b30174..b438f30fd5 100644
--- a/src/modules/sdlog2/CMakeLists.txt
+++ b/src/modules/sdlog2/CMakeLists.txt
@@ -30,13 +30,16 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+if (${OS} STREQUAL "nuttx")
+	list(APPEND MODULE_CFLAGS -Wframe-larger-than=1500)
+endif()
 px4_add_module(
 	MODULE modules__sdlog2
 	MAIN sdlog2
 	PRIORITY "SCHED_PRIORITY_MAX-30"
 	STACK 1200
 	COMPILE_FLAGS
-		-Wframe-larger-than=1500
+		${MODULE_CFLAGS}
 		-Os
 	SRCS
 		sdlog2.c
diff --git a/src/modules/simulator/CMakeLists.txt b/src/modules/simulator/CMakeLists.txt
index 1e81695b97..de452c5de4 100644
--- a/src/modules/simulator/CMakeLists.txt
+++ b/src/modules/simulator/CMakeLists.txt
@@ -40,11 +40,9 @@ px4_add_module(
 	MODULE modules__simulator
 	MAIN simulator
 	COMPILE_FLAGS
-		-Weffc++
 		-Wno-attributes
 		-Wno-packed
 		-Wno-packed
-		
 	SRCS
 		${SIMULATOR_SRCS}
 	DEPENDS
diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c
index 4ba9d32004..097e61e350 100644
--- a/src/modules/systemlib/param/param.c
+++ b/src/modules/systemlib/param/param.c
@@ -88,7 +88,7 @@ extern struct param_info_s	*param_info_base;
 extern struct param_info_s	*param_info_limit;
 #else
 // FIXME - start and end are reversed
-static const struct param_info_s *param_info_base = (const struct param_info_s *)&px4_parameters;
+static const struct param_info_s *param_info_base = (const struct param_info_s *) &px4_parameters;
 #endif
 
 #define	param_info_count		px4_parameters.param_count
diff --git a/src/modules/uavcan/CMakeLists.txt b/src/modules/uavcan/CMakeLists.txt
index f3d255d1e0..38bf0bc111 100644
--- a/src/modules/uavcan/CMakeLists.txt
+++ b/src/modules/uavcan/CMakeLists.txt
@@ -35,7 +35,7 @@
 set(uavcan_c_flags ${c_flags})
 list(REMOVE_ITEM uavcan_c_flags -std=gnu++0x -D__CUSTOM_FILE_IO__)
 set(uavcan_cxx_flags ${cxx_flags})
-list(REMOVE_ITEM uavcan_cxx_flags -std=gnu++0x -std=c++11 -D__CUSTOM_FILE_IO__)
+list(REMOVE_ITEM uavcan_cxx_flags -std=gnu++0x -std=c++11 -Wundef -Werror -D__CUSTOM_FILE_IO__)
 set(uavcan_deps git_uavcan)
 set(uavcan_platform generic)
 
@@ -76,8 +76,10 @@ externalproject_add(libuavcan
 	DEPENDS ${uavcan_deps}
 	DOWNLOAD_COMMAND ""
 	UPDATE_COMMAND git submodule update --init
+	LOG_INSTALL 1
 	SOURCE_DIR ${CMAKE_SOURCE_DIR}/src/lib/uavcan
 	CMAKE_ARGS -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
+		-DUAVCAN_USE_CPP03=ON
 		-DUAVCAN_PLATFORM=${uavcan_platform}
 		-DUAVCAN_OS=${OS}
 		-DCMAKE_CXX_FLAGS=${uavcan_cxx_flags}
@@ -94,6 +96,8 @@ px4_add_module(
 	MAIN uavcan
 	STACK 3200
 	COMPILE_FLAGS
+		-Wframe-larger-than=1500
+		-Wno-deprecated-declarations
 		-O3
 	SRCS
 
diff --git a/src/platforms/posix/drivers/gyrosim/CMakeLists.txt b/src/platforms/posix/drivers/gyrosim/CMakeLists.txt
index 184df706d3..335bee65d6 100644
--- a/src/platforms/posix/drivers/gyrosim/CMakeLists.txt
+++ b/src/platforms/posix/drivers/gyrosim/CMakeLists.txt
@@ -35,7 +35,6 @@ px4_add_module(
 	MAIN gyrosim
 	STACK 1200
 	COMPILE_FLAGS
-		-Weffc++
 		-Os
 	SRCS
 		gyrosim.cpp
diff --git a/src/systemcmds/mixer/CMakeLists.txt b/src/systemcmds/mixer/CMakeLists.txt
index dd051b2772..703d8210fb 100644
--- a/src/systemcmds/mixer/CMakeLists.txt
+++ b/src/systemcmds/mixer/CMakeLists.txt
@@ -34,7 +34,7 @@ set(MIXER_CFLAGS -Os)
 if(${OS} STREQUAL "qurt")
 	list(APPEND MIXER_CFLAGS -Wframe-larger-than=2176)
 else()
-	list(APPEND MIXER_CFLAGS -Wframe-larger-than=2048)
+	list(APPEND MIXER_CFLAGS -Wframe-larger-than=2100)
 endif()
 
 px4_add_module(
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index d38a13c676..88f5197d27 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -445,8 +445,8 @@ do_set(const char *name, const char *val, bool fail_on_not_found)
 
 			if (i != newval) {
 				printf("%c %s: ",
-					param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
-					param_name(param));
+				       param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
+				       param_name(param));
 				printf("curr: %ld", (long)i);
 				param_set(param, &newval);
 				printf(" -> new: %ld\n", (long)newval);
@@ -467,8 +467,8 @@ do_set(const char *name, const char *val, bool fail_on_not_found)
 			if (f != newval) {
 #pragma GCC diagnostic pop
 				printf("%c %s: ",
-					param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
-					param_name(param));
+				       param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
+				       param_name(param));
 				printf("curr: %4.4f", (double)f);
 				param_set(param, &newval);
 				printf(" -> new: %4.4f\n", (double)newval);