3 files changed, 9 insertions, 7 deletions
diff --git a/src/platforms/px4_message.h b/src/platforms/px4_message.h
index bff7aa313..499a5dd8b 100644
--- a/src/platforms/px4_message.h
+++ b/src/platforms/px4_message.h
@@ -39,7 +39,7 @@
 #pragma once
 
 #if defined(__PX4_ROS)
-typedef const char* PX4TopicHandle;
+typedef const char *PX4TopicHandle;
 #else
 #include <uORB/uORB.h>
 typedef orb_id_t PX4TopicHandle;
@@ -68,8 +68,8 @@ public:
 
 	virtual ~PX4Message() {};
 
-	virtual M& data() {return _data;}
-	virtual const M& data() const {return _data;}
+	virtual M &data() {return _data;}
+	virtual const M &data() const {return _data;}
 private:
 	M _data;
 };
diff --git a/src/platforms/ros/nodes/commander/commander.h b/src/platforms/ros/nodes/commander/commander.h
index c537c8419..fc88260ba 100644
--- a/src/platforms/ros/nodes/commander/commander.h
+++ b/src/platforms/ros/nodes/commander/commander.h
@@ -68,14 +68,14 @@ protected:
 	 * Set control mode flags based on stick positions (equiv to code in px4 commander)
 	 */
 	void EvalSwitches(const px4::manual_control_setpointConstPtr &msg,
-			px4::vehicle_status &msg_vehicle_status,
-			px4::vehicle_control_mode &msg_vehicle_control_mode);
+			  px4::vehicle_status &msg_vehicle_status,
+			  px4::vehicle_control_mode &msg_vehicle_control_mode);
 
 	/**
 	 * Sets offboard controll flags in msg_vehicle_control_mode
 	 */
 	void SetOffboardControl(const px4::offboard_control_mode &msg_offboard_control_mode,
-			px4::vehicle_control_mode &msg_vehicle_control_mode);
+				px4::vehicle_control_mode &msg_vehicle_control_mode);
 
 	ros::NodeHandle _n;
 	ros::Subscriber _man_ctrl_sp_sub;
diff --git a/src/platforms/ros/nodes/position_estimator/position_estimator.cpp b/src/platforms/ros/nodes/position_estimator/position_estimator.cpp
index ed3a4efa5..e4273687e 100644
--- a/src/platforms/ros/nodes/position_estimator/position_estimator.cpp
+++ b/src/platforms/ros/nodes/position_estimator/position_estimator.cpp
@@ -64,14 +64,16 @@ void PositionEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstP
 
 	/* Fill px4 position topic with contents from modelstates topic */
 	int index = 0;
+
 	//XXX: maybe a more clever approach would be to do this not on every loop, need to check if and when
 	//gazebo rearranges indexes.
-	for(std::vector<std::string>::const_iterator it = msg->name.begin(); it != msg->name.end(); ++it) {
+	for (std::vector<std::string>::const_iterator it = msg->name.begin(); it != msg->name.end(); ++it) {
 		if (*it == "iris" || *it == "ardrone") {
 			index = it -  msg->name.begin();
 			break;
 		}
 	}
+
 	msg_v_l_pos.xy_valid = true;
 	msg_v_l_pos.z_valid = true;
 	msg_v_l_pos.v_xy_valid = true;