diff --git a/flix/cli.ino b/flix/cli.ino
index 9615ee6..2fe3465 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -57,8 +57,7 @@ const struct Param {
 	{"t", &t, nullptr},
 };
 
-void doCommand(String& command, String& value)
-{
+void doCommand(String& command, String& value) {
 	if (command == "help" || command == "motd") {
 		Serial.println(motd);
 	} else if (command == "show") {
@@ -119,8 +118,7 @@ void doCommand(String& command, String& value)
 	}
 }
 
-void showTable()
-{
+void showTable() {
 	for (uint8_t i = 0; i < sizeof(params) / sizeof(params[0]); i++) {
 		Serial.print(params[i].name);
 		Serial.print(" ");
@@ -128,8 +126,7 @@ void showTable()
 	}
 }
 
-void cliTestMotor(uint8_t n)
-{
+void cliTestMotor(uint8_t n) {
 	Serial.printf("Testing motor %d\n", n);
 	motors[n] = 1;
 	sendMotors();
@@ -139,8 +136,7 @@ void cliTestMotor(uint8_t n)
 	Serial.println("Done");
 }
 
-void parseInput()
-{
+void parseInput() {
 	static bool showMotd = true;
 	static String command;
 	static String value;
diff --git a/flix/control.ino b/flix/control.ino
index df7c2bc..d563f36 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -53,8 +53,7 @@ Vector ratesTarget;
 Vector torqueTarget;
 float thrustTarget;
 
-void control()
-{
+void control() {
 	interpretRC();
 	if (mode == STAB) {
 		controlAttitude();
@@ -68,8 +67,7 @@ void control()
 	}
 }
 
-void interpretRC()
-{
+void interpretRC() {
 	if (controls[RC_CHANNEL_MODE] < 0.25) {
 		mode = MANUAL;
 	} else if (controls[RC_CHANNEL_MODE] < 0.75) {
@@ -108,8 +106,7 @@ void interpretRC()
 	}
 }
 
-void controlAttitude()
-{
+void controlAttitude() {
 	if (!armed) {
 		rollPID.reset();
 		pitchPID.reset();
@@ -131,8 +128,7 @@ void controlAttitude()
 	}
 }
 
-void controlRate()
-{
+void controlRate() {
 	if (!armed) {
 		rollRatePID.reset();
 		pitchRatePID.reset();
@@ -147,8 +143,7 @@ void controlRate()
 	torqueTarget.z = yawRatePID.update(ratesTarget.z - ratesFiltered.z, dt);
 }
 
-void controlTorque()
-{
+void controlTorque() {
 	if (!armed) {
 		memset(motors, 0, sizeof(motors));
 		return;
@@ -165,13 +160,11 @@ void controlTorque()
 	motors[3] = constrain(motors[3], 0, 1);
 }
 
-bool motorsActive()
-{
+bool motorsActive() {
 	return motors[0] > 0 || motors[1] > 0 || motors[2] > 0 || motors[3] > 0;
 }
 
-const char* getModeName()
-{
+const char* getModeName() {
 	switch (mode) {
 		case MANUAL: return "MANUAL";
 		case ACRO: return "ACRO";
diff --git a/flix/estimate.ino b/flix/estimate.ino
index 6919dcf..a0cc385 100644
--- a/flix/estimate.ino
+++ b/flix/estimate.ino
@@ -9,22 +9,19 @@
 #define ONE_G 9.807f
 #define WEIGHT_ACC 0.5f
 
-void estimate()
-{
+void estimate() {
 	applyGyro();
 	applyAcc();
 	signalizeHorizontality();
 }
 
-void applyGyro()
-{
+void applyGyro() {
 	// applying gyro
 	attitude *= Quaternion::fromAngularRates(rates * dt);
 	attitude.normalize();
 }
 
-void applyAcc()
-{
+void applyAcc() {
 	// test should we apply accelerometer gravity correction
 	float accNorm = acc.norm();
 	bool landed = !motorsActive() && abs(accNorm - ONE_G) < ONE_G * 0.1f;
@@ -40,8 +37,7 @@ void applyAcc()
 	attitude.normalize();
 }
 
-void signalizeHorizontality()
-{
+void signalizeHorizontality() {
 	float angle = Vector::angleBetweenVectors(attitude.rotate(Vector(0, 0, -1)), Vector(0, 0, -1));
 	setLED(angle < 15 * DEG_TO_RAD);
 }
diff --git a/flix/flix.ino b/flix/flix.ino
index ed7cdad..a8cb484 100644
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -33,8 +33,7 @@ Vector acc; // accelerometer data, m/s/s
 Quaternion attitude; // estimated attitude
 float motors[4]; // normalized motors thrust in range [-1..1]
 
-void setup()
-{
+void setup() {
 	Serial.begin(SERIAL_BAUDRATE);
 	Serial.println("Initializing flix");
 	setupLED();
@@ -50,8 +49,7 @@ void setup()
 	Serial.println("Initializing complete");
 }
 
-void loop()
-{
+void loop() {
 	if (!readIMU()) return;
 
 	step();
diff --git a/flix/imu.ino b/flix/imu.ino
index 8f089f6..c3f511f 100644
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -11,8 +11,7 @@
 
 MPU9250 IMU(SPI, IMU_CS_PIN);
 
-void setupIMU()
-{
+void setupIMU() {
 	Serial.println("Setup IMU");
 
 	auto status = IMU.begin();
@@ -35,8 +34,7 @@ void setupIMU()
 	// NOTE: very important, without the above the rate would be terrible 50 Hz
 }
 
-bool readIMU()
-{
+bool readIMU() {
 	if (IMU.readSensor() < 0) {
 		Serial.println("IMU read error");
 		return false;
@@ -54,8 +52,7 @@ bool readIMU()
 	return rates != lastRates;
 }
 
-void calibrateGyro()
-{
+void calibrateGyro() {
 	Serial.println("Calibrating gyro, stand still");
 	delay(500);
 	int status = IMU.calibrateGyro();
@@ -64,8 +61,7 @@ void calibrateGyro()
 	printIMUCal();
 }
 
-void calibrateAccel()
-{
+void calibrateAccel() {
 	Serial.println("Cal accel: place level"); delay(3000);
 	IMU.calibrateAccel();
 	Serial.println("Cal accel: place nose up"); delay(3000);
@@ -81,24 +77,21 @@ void calibrateAccel()
 	printIMUCal();
 }
 
-void loadAccelCal()
-{
+void loadAccelCal() {
 	// NOTE: this should be changed to the actual values
 	IMU.setAccelCalX(-0.0048542023, 1.0008112192);
 	IMU.setAccelCalY(0.0521845818, 0.9985780716);
 	IMU.setAccelCalZ(0.5754694939, 1.0045746565);
 }
 
-void loadGyroCal()
-{
+void loadGyroCal() {
 	// NOTE: this should be changed to the actual values
 	IMU.setGyroBiasX_rads(-0.0185128022);
 	IMU.setGyroBiasY_rads(-0.0262369743);
 	IMU.setGyroBiasZ_rads(0.0163032326);
 }
 
-void printIMUCal()
-{
+void printIMUCal() {
 	Serial.printf("gyro bias: %f %f %f\n", IMU.getGyroBiasX_rads(), IMU.getGyroBiasY_rads(), IMU.getGyroBiasZ_rads());
 	Serial.printf("accel bias: %f %f %f\n", IMU.getAccelBiasX_mss(), IMU.getAccelBiasY_mss(), IMU.getAccelBiasZ_mss());
 	Serial.printf("accel scale: %f %f %f\n", IMU.getAccelScaleFactorX(), IMU.getAccelScaleFactorY(), IMU.getAccelScaleFactorZ());
diff --git a/flix/led.ino b/flix/led.ino
index f8ab8b0..30b79ce 100644
--- a/flix/led.ino
+++ b/flix/led.ino
@@ -5,17 +5,14 @@
 
 #define BLINK_PERIOD 500000
 
-void setupLED()
-{
+void setupLED() {
 	pinMode(LED_BUILTIN, OUTPUT);
 }
 
-void setLED(bool on)
-{
+void setLED(bool on) {
 	digitalWrite(LED_BUILTIN, on ? HIGH : LOW);
 }
 
-void blinkLED()
-{
+void blinkLED() {
 	setLED(micros() / BLINK_PERIOD % 2);
 }
diff --git a/flix/log.ino b/flix/log.ino
index cc360ca..e412cb4 100644
--- a/flix/log.ino
+++ b/flix/log.ino
@@ -12,8 +12,7 @@
 float logBuffer[LOG_SIZE][LOG_COLUMNS]; // * 4 (float)
 int logPointer = 0;
 
-void logData()
-{
+void logData() {
 	if (!armed) return;
 
 	static float logTime = 0;
@@ -41,8 +40,7 @@ void logData()
 	}
 }
 
-void dumpLog()
-{
+void dumpLog() {
 	Serial.printf("t,rates.x,rates.y,rates.z,ratesTarget.x,ratesTarget.y,ratesTarget.z,"
 		"attitude.x,attitude.y,attitude.z,attitudeTarget.x,attitudeTarget.y,attitudeTarget.z,thrustTarget\n");
 	for (int i = 0; i < LOG_SIZE; i++) {
diff --git a/flix/lpf.h b/flix/lpf.h
index befa9a0..937078f 100644
--- a/flix/lpf.h
+++ b/flix/lpf.h
@@ -6,8 +6,7 @@
 #pragma once
 
 template <typename T> // Using template to make the filter usable for scalar and vector values
-class LowPassFilter
-{
+class LowPassFilter {
 public:
 	float alpha; // smoothing constant, 1 means filter disabled
 	T output;
diff --git a/flix/mavlink.ino b/flix/mavlink.ino
index 173c7b4..8dfff14 100644
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -11,8 +11,7 @@
 #define PERIOD_SLOW 1.0
 #define PERIOD_FAST 0.1
 
-void sendMavlink()
-{
+void sendMavlink() {
 	static float lastSlow = 0;
 	static float lastFast = 0;
 
@@ -55,8 +54,7 @@ void sendMavlink()
 	}
 }
 
-inline void sendMessage(const void *msg)
-{
+inline void sendMessage(const void *msg) {
 	uint8_t buf[MAVLINK_MAX_PACKET_LEN];
 	uint16_t len = mavlink_msg_to_send_buffer(buf, (mavlink_message_t *)msg);
 	sendWiFi(buf, len);
diff --git a/flix/motors.ino b/flix/motors.ino
index 8b8ee29..937d8e4 100644
--- a/flix/motors.ino
+++ b/flix/motors.ino
@@ -39,8 +39,7 @@ void setupMotors() {
 	Serial.println("Motors initialized");
 }
 
-uint16_t getPWM(float val, int n)
-{
+uint16_t getPWM(float val, int n) {
 	if (val == 0) {
 		return PWM_NEUTRAL;
 	} else if (val > 0) {
@@ -54,16 +53,14 @@ uint8_t pwmToDutyCycle(uint16_t pwm) {
 	return map(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1);
 }
 
-void sendMotors()
-{
+void sendMotors() {
 	ledcWrite(0, pwmToDutyCycle(getPWM(motors[0], 0)));
 	ledcWrite(1, pwmToDutyCycle(getPWM(motors[1], 1)));
 	ledcWrite(2, pwmToDutyCycle(getPWM(motors[2], 2)));
 	ledcWrite(3, pwmToDutyCycle(getPWM(motors[3], 3)));
 }
 
-void fullMotorTest(int n, bool reverse)
-{
+void fullMotorTest(int n, bool reverse) {
 	printf("Full test for motor %d\n", n);
 	for (int pwm = PWM_NEUTRAL; pwm <= 2300 && pwm >= 700; pwm += reverse ? -100 : 100) {
 		printf("Motor %d: %d\n", n, pwm);
diff --git a/flix/pid.h b/flix/pid.h
index b26189f..a330349 100644
--- a/flix/pid.h
+++ b/flix/pid.h
@@ -7,8 +7,7 @@
 
 #include "lpf.h"
 
-class PID
-{
+class PID {
 public:
 	float p = 0;
 	float i = 0;
diff --git a/flix/rc.ino b/flix/rc.ino
index 5a49563..536ecb0 100644
--- a/flix/rc.ino
+++ b/flix/rc.ino
@@ -11,14 +11,12 @@ const uint16_t channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472};
 
 SBUS RC(Serial2);
 
-void setupRC()
-{
+void setupRC() {
 	Serial.println("Setup RC");
 	RC.begin();
 }
 
-void readRC()
-{
+void readRC() {
 	bool failSafe, lostFrame;
 	if (RC.read(channels, &failSafe, &lostFrame)) {
 		if (failSafe) { return; } // TODO:
diff --git a/flix/time.ino b/flix/time.ino
index 2d15fa3..4632bfb 100644
--- a/flix/time.ino
+++ b/flix/time.ino
@@ -3,8 +3,7 @@
 
 // Time related functions
 
-void step()
-{
+void step() {
 	float now = micros() / 1000000.0;
 	dt = now - t;
 	t = now;
@@ -16,8 +15,7 @@ void step()
 	computeLoopFreq();
 }
 
-void computeLoopFreq()
-{
+void computeLoopFreq() {
 	static float windowStart = 0;
 	static uint32_t freq = 0;
 	freq++;
diff --git a/flix/util.ino b/flix/util.ino
index 13d7fc6..7d145ae 100644
--- a/flix/util.ino
+++ b/flix/util.ino
@@ -5,29 +5,24 @@
 
 #include "math.h"
 
-float mapf(long x, long in_min, long in_max, float out_min, float out_max)
-{
+float mapf(long x, long in_min, long in_max, float out_min, float out_max) {
 	return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
 }
 
-float mapff(float x, float in_min, float in_max, float out_min, float out_max)
-{
+float mapff(float x, float in_min, float in_max, float out_min, float out_max) {
 	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
 
-int8_t sign(float x)
-{
+int8_t sign(float x) {
 	return (x > 0) - (x < 0);
 }
 
-float randomFloat(float min, float max)
-{
+float randomFloat(float min, float max) {
 	return min + (max - min) * (float)rand() / RAND_MAX;
 }
 
 // wrap angle to [-PI, PI)
-float wrapAngle(float angle)
-{
+float wrapAngle(float angle) {
 	angle = fmodf(angle, 2 * PI);
 	if (angle > PI) {
 		angle -= 2 * PI;
diff --git a/flix/vector.h b/flix/vector.h
index 02779af..5ed57a5 100644
--- a/flix/vector.h
+++ b/flix/vector.h
@@ -5,8 +5,7 @@
 
 #pragma once
 
-class Vector : public Printable
-{
+class Vector : public Printable {
 public:
 	float x, y, z;
 
diff --git a/flix/wifi.ino b/flix/wifi.ino
index 8909edd..effb6f9 100644
--- a/flix/wifi.ino
+++ b/flix/wifi.ino
@@ -18,15 +18,13 @@
 
 WiFiUDP udp;
 
-void setupWiFi()
-{
+void setupWiFi() {
 	Serial.println("Setup Wi-Fi");
 	WiFi.softAP(WIFI_SSID, WIFI_PASSWORD);
 	IPAddress myIP = WiFi.softAPIP();
 }
 
-inline void sendWiFi(const uint8_t *buf, size_t len)
-{
+inline void sendWiFi(const uint8_t *buf, size_t len) {
 	udp.beginPacket(WIFI_UDP_IP, WIFI_UDP_PORT);
 	udp.write(buf, len);
 	udp.endPacket();
diff --git a/gazebo/Arduino.h b/gazebo/Arduino.h
index bf85eb0..f17b8f9 100644
--- a/gazebo/Arduino.h
+++ b/gazebo/Arduino.h
@@ -44,8 +44,7 @@ public:
 
 class Print {
 public:
-	size_t printf(const char *format, ...)
-	{
+	size_t printf(const char *format, ...) {
 		va_list args;
 		va_start(args, format);
 		size_t result = vprintf(format, args);
@@ -53,48 +52,39 @@ public:
 		return result;
 	}
 
-	size_t print(float n, int digits = 2)
-	{
+	size_t print(float n, int digits = 2) {
 		return printf("%.*f", digits, n);
 	}
 
-	size_t println(float n, int digits = 2)
-	{
+	size_t println(float n, int digits = 2) {
 		return printf("%.*f\n", digits, n);
 	}
 
-	size_t print(const char* s)
-	{
+	size_t print(const char* s) {
 		return printf("%s", s);
 	}
 
-	size_t println()
-	{
+	size_t println() {
 		return print("\n");
 	}
 
-	size_t println(const char* s)
-	{
+	size_t println(const char* s) {
 		return printf("%s\n", s);
 	}
 
-	size_t println(const Printable& p)
-	{
+	size_t println(const Printable& p) {
 		return p.printTo(*this) + print("\n");
 	}
 
-	size_t print(const String& s)
-	{
+	size_t print(const String& s) {
 		return printf("%s", s.c_str());
 	}
 
-	size_t println(const std::string& s)
-	{
+	size_t println(const std::string& s) {
 		return printf("%s\n", s.c_str());
 	}
 
-	size_t println(const String& s)
-	{
+	size_t println(const String& s) {
 		return printf("%s\n", s.c_str());
 	}
 };
diff --git a/gazebo/joystick.h b/gazebo/joystick.h
index a275b2a..5ee5918 100644
--- a/gazebo/joystick.h
+++ b/gazebo/joystick.h
@@ -24,8 +24,7 @@ bool joystickInitialized = false, warnShown = false;
 
 void normalizeRC();
 
-void joystickInit()
-{
+void joystickInit() {
 	SDL_Init(SDL_INIT_JOYSTICK);
 	joystick = SDL_JoystickOpen(0);
 	if (joystick != NULL) {
@@ -37,8 +36,7 @@ void joystickInit()
 	}
 }
 
-void joystickGet()
-{
+void joystickGet() {
 	if (!joystickInitialized) {
 		joystickInit();
 		return;
diff --git a/gazebo/simulator.cpp b/gazebo/simulator.cpp
index fd5cecd..04ec3f2 100644
--- a/gazebo/simulator.cpp
+++ b/gazebo/simulator.cpp
@@ -33,8 +33,7 @@ using ignition::math::Vector3d;
 using namespace gazebo;
 using namespace std;
 
-class ModelFlix : public ModelPlugin
-{
+class ModelFlix : public ModelPlugin {
 private:
 	physics::ModelPtr model;
 	physics::LinkPtr body;
@@ -45,8 +44,7 @@ private:
 	LowPassFilter<Vector> accFilter = LowPassFilter<Vector>(0.1);
 
 public:
-	void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
-	{
+	void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) {
 		this->model = _parent;
 		this->body = this->model->GetLink("body");
 		this->imu = dynamic_pointer_cast<sensors::ImuSensor>(sensors::get_sensor(model->GetScopedName(true) + "::body::imu")); // default::flix::body::imu
@@ -58,14 +56,12 @@ public:
 	}
 
 public:
-	void OnReset()
-	{
+	void OnReset() {
 		attitude = Quaternion(); // reset estimated attitude
 		gzmsg << "Flix plugin reset" << endl;
 	}
 
-	void OnUpdate()
-	{
+	void OnUpdate() {
 		__micros = model->GetWorld()->SimTime().Double() * 1000000;
 		step();
 
@@ -91,8 +87,7 @@ public:
 		logData();
 	}
 
-	void applyMotorsThrust()
-	{
+	void applyMotorsThrust() {
 		// thrusts
 		const double dist = 0.035355; // motors shift from the center, m
 		const double maxThrust = 0.03 * ONE_G; // ~30 g, https://youtu.be/VtKI4Pjx8Sk?&t=78