diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 6d6b1d1f0d..84bf1d4fa8 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -120,10 +120,10 @@ private:
 	hrt_abstime	_lvel_probation_time_us = POSVEL_PROBATION_MIN;
 
 	/* class variables used to check for navigation failure after takeoff */
-	hrt_abstime	_time_at_takeoff{0};	/**< last time we were on the ground */
+	hrt_abstime	_time_at_takeoff{0};		/**< last time we were on the ground */
 	hrt_abstime	_time_last_innov_pass{0};	/**< last time velocity innovations passed */
-	bool _nav_test_passed{false};	/**< true if the post takeoff navigation test has passed */
-	bool _nav_test_failed{false};	/**< true if the post takeoff navigation test has failed */
+	bool		_nav_test_passed{false};	/**< true if the post takeoff navigation test has passed */
+	bool		_nav_test_failed{false};	/**< true if the post takeoff navigation test has failed */
 
 	bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd,
 			    actuator_armed_s *armed, home_position_s *home, orb_advert_t *home_pub, orb_advert_t *command_ack_pub, bool *changed);
@@ -139,11 +139,6 @@ private:
 	// Set the system main state based on the current RC inputs
 	transition_result_t set_main_state_rc(const vehicle_status_s &status, bool *changed);
 
-	// Set the main system state based on RC and override device inputs
-	transition_result_t set_main_state(vehicle_status_s *status, bool *changed);
-	transition_result_t set_main_state_override_on(vehicle_status_s *status, bool *changed);
-	transition_result_t set_main_state_rc(vehicle_status_s *status, bool *changed);
-
 	void check_valid(const hrt_abstime &timestamp, const hrt_abstime &timeout, const bool valid_in, bool *valid_out, bool *changed);
 
 	bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
@@ -179,11 +174,11 @@ private:
 	void estimator_check(bool *status_changed);
 
 	// Subscriptions
-	Subscription<estimator_status_s>			_estimator_status_sub{ORB_ID(estimator_status)};
-	Subscription<mission_result_s>			_mission_result_sub;
-	Subscription<vehicle_global_position_s>		_global_position_sub;
-	Subscription<vehicle_local_position_s>		_local_position_sub;
-	Subscription<iridiumsbd_status_s> 		_iridiumsbd_status_sub;
+	Subscription<estimator_status_s>		_estimator_status_sub{ORB_ID(estimator_status)};
+	Subscription<iridiumsbd_status_s> 		_iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)};
+	Subscription<mission_result_s>			_mission_result_sub{ORB_ID(mission_result)};
+	Subscription<vehicle_global_position_s>		_global_position_sub{ORB_ID(vehicle_global_position)};
+	Subscription<vehicle_local_position_s>		_local_position_sub{ORB_ID(vehicle_local_position)};
 };
 
 #endif /* COMMANDER_HPP_ */
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index a67fe8e095..80f290dc52 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -543,11 +543,7 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
 }
 
 Commander::Commander() :
-	ModuleParams(nullptr),
-	_mission_result_sub(ORB_ID(mission_result)),
-	_global_position_sub(ORB_ID(vehicle_global_position)),
-	_local_position_sub(ORB_ID(vehicle_local_position)),
-	_iridiumsbd_status_sub(ORB_ID(iridiumsbd_status))
+	ModuleParams(nullptr)
 {
 }
 
@@ -1700,7 +1696,6 @@ Commander::run()
 
 		estimator_check(&status_changed);
 
-
 		/* Update land detector */
 		orb_check(land_detector_sub, &updated);