diff --git a/src/modules/muorb/adsp/px4muorb.cpp b/src/modules/muorb/adsp/px4muorb.cpp
index dad971ac7a..4e25989b17 100644
--- a/src/modules/muorb/adsp/px4muorb.cpp
+++ b/src/modules/muorb/adsp/px4muorb.cpp
@@ -50,7 +50,7 @@ extern int dspal_main(int argc, char *argv[]);
 extern struct shmem_info *shmem_info_p;
 extern int get_shmem_lock(const char *caller_file_name, int caller_line_number);
 extern void release_shmem_lock(const char *caller_file_name,
-		int caller_line_number);
+			       int caller_line_number);
 extern void init_shared_memory(void);
 __END_DECLS
 int px4muorb_orb_initialize()
@@ -61,7 +61,7 @@ int px4muorb_orb_initialize()
 	uORB::Manager::initialize();
 	// Register the fastrpc muorb with uORBManager.
 	uORB::Manager::get_instance()->set_uorb_communicator(
-			uORB::FastRpcChannel::GetInstance());
+		uORB::FastRpcChannel::GetInstance());
 
 	// Now continue with the usual dspal startup.
 	const char *argv[] = { "dspal", "start" };
@@ -85,7 +85,7 @@ int px4muorb_get_absolute_time(uint64_t *time_us)
 
 /*update value and param's change bit in shared memory*/
 int px4muorb_param_update_to_shmem(uint32_t param, const uint8_t *value,
-		int data_len_in_bytes)
+				   int data_len_in_bytes)
 {
 	unsigned int byte_changed, bit_changed;
 	union param_value_u *param_value = (union param_value_u *) value;
@@ -115,8 +115,9 @@ int px4muorb_param_update_index_from_shmem(unsigned char *data,
 {
 	unsigned int i;
 
-	if (!shmem_info_p)
+	if (!shmem_info_p) {
 		return -1;
+	}
 
 	if (get_shmem_lock(__FILE__, __LINE__) != 0) {
 		PX4_INFO("Could not get shmem lock\n");
@@ -138,8 +139,9 @@ int px4muorb_param_update_value_from_shmem(uint32_t param, const uint8_t *value,
 	unsigned int byte_changed, bit_changed;
 	union param_value_u *param_value = (union param_value_u *) value;
 
-	if (!shmem_info_p)
+	if (!shmem_info_p) {
 		return -1;
+	}
 
 	if (get_shmem_lock(__FILE__, __LINE__) != 0) {
 		PX4_INFO("Could not get shmem lock\n");
@@ -197,7 +199,7 @@ int px4muorb_remove_subscriber(const char *name)
 }
 
 int px4muorb_send_topic_data(const char *name, const uint8_t *data,
-		int data_len_in_bytes)
+			     int data_len_in_bytes)
 {
 	int rc = 0;
 	uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
@@ -229,7 +231,7 @@ int px4muorb_is_subscriber_present(const char *topic_name, int *status)
 }
 
 int px4muorb_receive_msg(int *msg_type, char *topic_name, int topic_name_len,
-		uint8_t *data, int data_len_in_bytes, int *bytes_returned)
+			 uint8_t *data, int data_len_in_bytes, int *bytes_returned)
 {
 	int rc = 0;
 	int32_t local_msg_type = 0;
@@ -237,14 +239,14 @@ int px4muorb_receive_msg(int *msg_type, char *topic_name, int topic_name_len,
 	uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
 	//PX4_DEBUG( "topic_namePtr: [0x%p] dataPtr: [0x%p]", topic_name, data );
 	rc = channel->get_data(&local_msg_type, topic_name, topic_name_len, data,
-			data_len_in_bytes, &local_bytes_returned);
+			       data_len_in_bytes, &local_bytes_returned);
 	*msg_type = (int) local_msg_type;
 	*bytes_returned = (int) local_bytes_returned;
 	return rc;
 }
 
 int px4muorb_receive_bulk_data(uint8_t *bulk_transfer_buffer,
-		int max_size_in_bytes, int *returned_length_in_bytes, int *topic_count)
+			       int max_size_in_bytes, int *returned_length_in_bytes, int *topic_count)
 {
 	int rc = 0;
 	int32_t local_bytes_returned = 0;
@@ -252,7 +254,7 @@ int px4muorb_receive_bulk_data(uint8_t *bulk_transfer_buffer,
 	uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
 	//PX4_DEBUG( "topic_namePtr: [0x%p] dataPtr: [0x%p]", topic_name, data );
 	rc = channel->get_bulk_data(bulk_transfer_buffer, max_size_in_bytes,
-			&local_bytes_returned, &local_topic_count);
+				    &local_bytes_returned, &local_topic_count);
 	*returned_length_in_bytes = (int) local_bytes_returned;
 	*topic_count = (int) local_topic_count;
 	return rc;
diff --git a/src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp b/src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp
index 8d7c2db5f2..b7bea9cad9 100644
--- a/src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp
+++ b/src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp
@@ -62,7 +62,7 @@ static bool _Initialized = false;
 static const uint32_t _MAX_TOPIC_DATA_BUFFER_SIZE = 1024;
 static const uint32_t _MAX_TOPICS = 64;
 static const uint32_t _MAX_BULK_TRANSFER_BUFFER_SIZE =
-		_MAX_TOPIC_DATA_BUFFER_SIZE * _MAX_TOPICS;
+	_MAX_TOPIC_DATA_BUFFER_SIZE * _MAX_TOPICS;
 static uint8_t *_BulkTransferBuffer = 0;
 
 unsigned char *adsp_changed_index = 0;
@@ -104,7 +104,7 @@ int calc_timer_diff_to_dsp_us(int32_t *time_diff_us)
 	timespec ts;
 	clock_gettime(CLOCK_MONOTONIC, &ts);
 	uint64_t time_appsproc = ((uint64_t) ts.tv_sec) * 1000000llu
-			+ (ts.tv_nsec / 1000);
+				 + (ts.tv_nsec / 1000);
 
 	close(fd);
 
@@ -122,8 +122,8 @@ int calc_timer_diff_to_dsp_us(int32_t *time_diff_us)
 
 	// Before casting to in32_t, check if it fits.
 	uint64_t abs_diff =
-			(time_appsproc > time_dsp) ?
-					(time_appsproc - time_dsp) : (time_dsp - time_appsproc);
+		(time_appsproc > time_dsp) ?
+		(time_appsproc - time_dsp) : (time_dsp - time_appsproc);
 
 	if (abs_diff > INT32_MAX) {
 		PX4_ERR("Timer difference too big");
@@ -133,9 +133,9 @@ int calc_timer_diff_to_dsp_us(int32_t *time_diff_us)
 	*time_diff_us = time_appsproc - time_dsp;
 
 	PX4_DEBUG("found time_dsp: %llu us, time_appsproc: %llu us",
-			time_dsp, time_appsproc);
+		  time_dsp, time_appsproc);
 	PX4_DEBUG("found time_diff: %li us, %.6f s",
-			*time_diff_us, ((double)*time_diff_us) / 1e6);
+		  *time_diff_us, ((double)*time_diff_us) / 1e6);
 
 	return 0;
 }
@@ -158,24 +158,24 @@ bool px4muorb::KraitRpcWrapper::Initialize()
 	PX4_DEBUG("%s Now calling rpcmem_alloc...", __FUNCTION__);
 
 	_BulkTransferBuffer = (uint8_t *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
-			MUORB_KRAIT_FASTRPC_MEM_FLAGS,
-			_MAX_BULK_TRANSFER_BUFFER_SIZE * sizeof(uint8_t));
+			      MUORB_KRAIT_FASTRPC_MEM_FLAGS,
+			      _MAX_BULK_TRANSFER_BUFFER_SIZE * sizeof(uint8_t));
 	rc = (_BulkTransferBuffer != NULL) ? true : false;
 
 	if (!rc) {
 		PX4_ERR("%s rpcmem_alloc failed! for bulk transfer buffers",
-				__FUNCTION__);
+			__FUNCTION__);
 		return rc;
 
 	} else {
 		PX4_DEBUG(
-				"%s rpcmem_alloc passed for Bulk transfer buffers buffer_size: %d addr: %p",
-				__FUNCTION__, (_MAX_BULK_TRANSFER_BUFFER_SIZE * sizeof(uint8_t)), _BulkTransferBuffer);
+			"%s rpcmem_alloc passed for Bulk transfer buffers buffer_size: %d addr: %p",
+			__FUNCTION__, (_MAX_BULK_TRANSFER_BUFFER_SIZE * sizeof(uint8_t)), _BulkTransferBuffer);
 	}
 
 	_TopicNameBuffer = (char *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
-			MUORB_KRAIT_FASTRPC_MEM_FLAGS,
-			_MAX_TOPIC_NAME_BUFFER * sizeof(char));
+			   MUORB_KRAIT_FASTRPC_MEM_FLAGS,
+			   _MAX_TOPIC_NAME_BUFFER * sizeof(char));
 
 	rc = (_TopicNameBuffer != NULL) ? true : false;
 
@@ -190,8 +190,8 @@ bool px4muorb::KraitRpcWrapper::Initialize()
 
 	// now allocate the data buffer.
 	_DataBuffer = (uint8_t *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
-			MUORB_KRAIT_FASTRPC_MEM_FLAGS,
-			_MAX_DATA_BUFFER_SIZE * sizeof(uint8_t));
+					       MUORB_KRAIT_FASTRPC_MEM_FLAGS,
+					       _MAX_DATA_BUFFER_SIZE * sizeof(uint8_t));
 
 	rc = (_DataBuffer != NULL) ? true : false;
 
@@ -208,12 +208,13 @@ bool px4muorb::KraitRpcWrapper::Initialize()
 	}
 
 	adsp_changed_index = (uint8_t *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
-			MUORB_KRAIT_FASTRPC_MEM_FLAGS, PARAM_BUFFER_SIZE * sizeof(uint8_t));
+			     MUORB_KRAIT_FASTRPC_MEM_FLAGS, PARAM_BUFFER_SIZE * sizeof(uint8_t));
 
 	rc = (adsp_changed_index != NULL) ? true : false;
 
 	if (!rc) {
 		PX4_ERR("%s rpcmem_alloc failed! for adsp_changed_index", __FUNCTION__);
+
 	} else {
 		memset(adsp_changed_index, 0, PARAM_BUFFER_SIZE * sizeof(uint8_t));
 	}
@@ -228,7 +229,7 @@ bool px4muorb::KraitRpcWrapper::Initialize()
 	// call muorb initialize routine.
 	if (px4muorb_orb_initialize() != 0) {
 		PX4_ERR("%s Error calling the uorb fastrpc initalize method..",
-				__FUNCTION__);
+			__FUNCTION__);
 		rc = false;
 		return rc;
 	}
@@ -244,7 +245,7 @@ bool px4muorb::KraitRpcWrapper::Initialize()
 	int diff = (time_dsp - time_appsproc);
 
 	PX4_DEBUG("time_dsp: %llu us, time appsproc: %llu us, diff: %d us",
-			time_dsp, time_appsproc, diff);
+		  time_dsp, time_appsproc, diff);
 
 	_Initialized = true;
 	return rc;
@@ -296,7 +297,7 @@ int32_t px4muorb::KraitRpcWrapper::SendData(const char *topic,
 		int32_t length_in_bytes, const uint8_t *data)
 {
 	return (_Initialized ?
-			px4muorb_send_topic_data(topic, data, length_in_bytes) : -1);
+		px4muorb_send_topic_data(topic, data, length_in_bytes) : -1);
 }
 
 int32_t px4muorb::KraitRpcWrapper::ReceiveData(int32_t *msg_type, char **topic,
@@ -306,8 +307,8 @@ int32_t px4muorb::KraitRpcWrapper::ReceiveData(int32_t *msg_type, char **topic,
 
 	if (_Initialized) {
 		rc = px4muorb_receive_msg(msg_type, _TopicNameBuffer,
-				_MAX_TOPIC_NAME_BUFFER, _DataBuffer, _MAX_DATA_BUFFER_SIZE,
-				length_in_bytes);
+					  _MAX_TOPIC_NAME_BUFFER, _DataBuffer, _MAX_DATA_BUFFER_SIZE,
+					  length_in_bytes);
 
 		if (rc == 0) {
 			*topic = _TopicNameBuffer;
@@ -332,7 +333,7 @@ int32_t px4muorb::KraitRpcWrapper::ReceiveBulkData(uint8_t **bulk_data,
 	if (_Initialized) {
 		//rc = px4muorb_receive_msg( msg_type, _TopicNameBuffer, _MAX_TOPIC_NAME_BUFFER, _DataBuffer, _MAX_DATA_BUFFER_SIZE, length_in_bytes  );
 		rc = px4muorb_receive_bulk_data(_BulkTransferBuffer,
-				_MAX_BULK_TRANSFER_BUFFER_SIZE, length_in_bytes, topic_count);
+						_MAX_BULK_TRANSFER_BUFFER_SIZE, length_in_bytes, topic_count);
 
 		if (rc == 0) {
 			*bulk_data = _BulkTransferBuffer;
diff --git a/src/platforms/posix/px4_layer/shmem_posix.c b/src/platforms/posix/px4_layer/shmem_posix.c
index aa0ef2b959..66cf5ba9bf 100644
--- a/src/platforms/posix/px4_layer/shmem_posix.c
+++ b/src/platforms/posix/px4_layer/shmem_posix.c
@@ -60,8 +60,7 @@ void update_index_from_shmem(void);
 uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
 extern unsigned char *adsp_changed_index;
 
-struct param_wbuf_s
-{
+struct param_wbuf_s {
 	param_t param;
 	union param_value_u val;
 	bool unsaved;
@@ -70,9 +69,10 @@ struct param_wbuf_s
 /*update value and param's change bit in shared memory*/
 void update_to_shmem(param_t param, union param_value_u value)
 {
-	if (px4muorb_param_update_to_shmem(param, (unsigned char*) &value,
-			sizeof(value)))
+	if (px4muorb_param_update_to_shmem(param, (unsigned char *) &value,
+					   sizeof(value))) {
 		PX4_ERR("krait update param %u failed", param);
+	}
 }
 
 void update_index_from_shmem(void)
@@ -83,14 +83,15 @@ void update_index_from_shmem(void)
 	}
 
 	px4muorb_param_update_index_from_shmem(adsp_changed_index,
-			PARAM_BUFFER_SIZE);
+					       PARAM_BUFFER_SIZE);
 }
 
 static void update_value_from_shmem(param_t param, union param_value_u *value)
 {
-	if (px4muorb_param_update_value_from_shmem(param, (unsigned char*) value,
-			sizeof(union param_value_u)))
+	if (px4muorb_param_update_value_from_shmem(param, (unsigned char *) value,
+			sizeof(union param_value_u))) {
 		PX4_ERR("%s get param failed", __FUNCTION__);
+	}
 }
 
 int update_from_shmem(param_t param, union param_value_u *value)
@@ -106,7 +107,7 @@ int update_from_shmem(param_t param, union param_value_u *value)
 	update_from_shmem_current_time = hrt_absolute_time();
 
 	if ((update_from_shmem_current_time - update_from_shmem_prev_time)
-			> 1000000) { //update every 1 second
+	    > 1000000) { //update every 1 second
 		update_from_shmem_prev_time = update_from_shmem_current_time;
 		update_index_from_shmem();
 	}
@@ -123,7 +124,7 @@ int update_from_shmem(param_t param, union param_value_u *value)
 	//else {PX4_INFO("no change to param %s", param_name(param));}
 
 	PX4_DEBUG("%s %d bit on adsp index[%d]",
-			(retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
+		  (retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
 
 	return retval;
 }
diff --git a/src/platforms/qurt/px4_layer/shmem_qurt.c b/src/platforms/qurt/px4_layer/shmem_qurt.c
index b4b24eab39..780a4cc7cf 100644
--- a/src/platforms/qurt/px4_layer/shmem_qurt.c
+++ b/src/platforms/qurt/px4_layer/shmem_qurt.c
@@ -75,8 +75,7 @@ static unsigned log2_for_int(unsigned v)
 	return r;
 }
 
-struct param_wbuf_s
-{
+struct param_wbuf_s {
 	param_t param;
 	union param_value_u val;
 	bool unsaved;
@@ -86,17 +85,18 @@ extern struct param_wbuf_s *param_find_changed(param_t param);
 static void *map_memory(off_t target)
 {
 
-	return (void *) (target + LOCK_SIZE);
+	return (void *)(target + LOCK_SIZE);
 
 }
 
 int get_shmem_lock(const char *caller_file_name, int caller_line_number)
 {
-	unsigned char *lock = (unsigned char *) (MAP_ADDRESS + LOCK_OFFSET);
+	unsigned char *lock = (unsigned char *)(MAP_ADDRESS + LOCK_OFFSET);
 	unsigned int i = 0;
 
 #ifdef PARAM_LOCK_DEBUG
-	PX4_INFO("lock value %d before get from %s, line: %d\n", *(unsigned int*)0xfbfc000, strrchr(caller_file_name, '/'), caller_line_number);
+	PX4_INFO("lock value %d before get from %s, line: %d\n", *(unsigned int *)0xfbfc000, strrchr(caller_file_name, '/'),
+		 caller_line_number);
 #endif
 
 	while (!atomic_compare_and_set(lock, 1, 0)) {
@@ -110,12 +110,12 @@ int get_shmem_lock(const char *caller_file_name, int caller_line_number)
 
 	if (i > 100) {
 		PX4_INFO("Could not get lock, file name: %s, line number: %d.\n",
-				strrchr(caller_file_name, '/'), caller_line_number);
+			 strrchr(caller_file_name, '/'), caller_line_number);
 		return -1;
 
 	} else {
 		PX4_DEBUG("Lock acquired, file name: %s, line number: %d\n",
-				caller_file_name, caller_line_number);
+			  caller_file_name, caller_line_number);
 	}
 
 	return 0; //got the lock
@@ -124,13 +124,13 @@ int get_shmem_lock(const char *caller_file_name, int caller_line_number)
 
 void release_shmem_lock(const char *caller_file_name, int caller_line_number)
 {
-	unsigned char *lock = (unsigned char *) (MAP_ADDRESS + LOCK_OFFSET);
+	unsigned char *lock = (unsigned char *)(MAP_ADDRESS + LOCK_OFFSET);
 
 	*lock = 1;
 
 #ifdef PARAM_LOCK_DEBUG
 	PX4_INFO("release lock, file name: %s, line number: %d.\n",
-			strrchr(caller_file_name, '/'), caller_line_number);
+		 strrchr(caller_file_name, '/'), caller_line_number);
 #endif
 
 	return;
@@ -141,14 +141,15 @@ void init_shared_memory(void)
 	//PX4_INFO("Value at lock address is %d\n", *(unsigned int*)0xfbfc000);
 	int i;
 
-	if (shmem_info_p)
+	if (shmem_info_p) {
 		return;
+	}
 
 	virt_addr = map_memory(MAP_ADDRESS);
 	shmem_info_p = (struct shmem_info *) virt_addr;
 
 	//init lock as 1
-	unsigned char *lock = (unsigned char *) (MAP_ADDRESS + LOCK_OFFSET);
+	unsigned char *lock = (unsigned char *)(MAP_ADDRESS + LOCK_OFFSET);
 	*lock = 1;
 
 	for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
@@ -230,12 +231,12 @@ void update_to_shmem(param_t param, union param_value_u value)
 
 	if (param_type(param) == PARAM_TYPE_INT32) {
 		PX4_INFO("Set value %d for param %s to shmem, set adsp index %d:%d\n", value.i, param_name(param), byte_changed,
-				bit_changed);
+			 bit_changed);
 	}
 
 	else if (param_type(param) == PARAM_TYPE_FLOAT) {
 		PX4_INFO("Set value %f for param %s to shmem, set adsp index %d:%d\n", value.f, param_name(param), byte_changed,
-				bit_changed);
+			 bit_changed);
 	}
 
 #endif
@@ -261,17 +262,19 @@ void update_index_from_shmem(void)
 			// If a param has changed, we need to find out which one.
 			// From the byte and bit that is different, we can resolve the param number.
 			unsigned bit = log2_for_int(
-					krait_changed_index[i]
-							^ shmem_info_p->krait_changed_index[i]);
+					       krait_changed_index[i]
+					       ^ shmem_info_p->krait_changed_index[i]);
 			param_t param_to_get = i * 8 + bit;
 
 			// Update our krait_changed_index as well.
 			krait_changed_index[i] = shmem_info_p->krait_changed_index[i];
 			params[i] = param_to_get;
+
 		} else {
 			params[i] = 0xFFFF;
 		}
 	}
+
 	release_shmem_lock(__FILE__, __LINE__);
 
 	// FIXME: this is a hack but it gets the param so that it gets added
@@ -306,12 +309,12 @@ static void update_value_from_shmem(param_t param, union param_value_u *value)
 
 	if (param_type(param) == PARAM_TYPE_INT32) {
 		PX4_INFO("Got value %d for param %s from shmem, cleared krait index %d:%d\n", value->i, param_name(param), byte_changed,
-				bit_changed);
+			 bit_changed);
 	}
 
 	else if (param_type(param) == PARAM_TYPE_FLOAT) {
 		PX4_INFO("Got value %f for param %s from shmem, cleared krait index %d:%d\n", value->f, param_name(param), byte_changed,
-				bit_changed);
+			 bit_changed);
 	}
 
 #endif
@@ -329,7 +332,7 @@ int update_from_shmem(param_t param, union param_value_u *value)
 	update_from_shmem_current_time = hrt_absolute_time();
 
 	if ((update_from_shmem_current_time - update_from_shmem_prev_time)
-			> 1000000) { //update every 1 second
+	    > 1000000) { //update every 1 second
 		update_from_shmem_prev_time = update_from_shmem_current_time;
 		update_index_from_shmem();
 	}
@@ -346,7 +349,7 @@ int update_from_shmem(param_t param, union param_value_u *value)
 	//else {PX4_INFO("no change to param %s\n", param_name(param));}
 
 	PX4_DEBUG("%s %d bit on krait changed index[%d]\n",
-			(retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
+		  (retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
 
 	return retval;
 }