diff --git a/APMrover2/Steering.cpp b/APMrover2/Steering.cpp
index f40b925e69..579066ee32 100644
--- a/APMrover2/Steering.cpp
+++ b/APMrover2/Steering.cpp
@@ -14,7 +14,7 @@ void Rover::throttle_slew_limit(int16_t last_throttle) {
         }
         uint16_t pwm;
         if (SRV_Channels::get_output_pwm(SRV_Channel::k_throttle, pwm)) {
-            SRV_Channels::set_output_pwm(SRV_Channel::k_throttle,constrain_int16(pwm, last_throttle - temp, last_throttle + temp));
+            SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, constrain_int16(pwm, last_throttle - temp, last_throttle + temp));
         }
     }
 }
@@ -103,10 +103,10 @@ void Rover::calc_throttle(float target_speed) {
     // If not autostarting OR we are loitering at a waypoint
     // then set the throttle to minimum
     if (!auto_check_trigger() || in_stationary_loiter()) {
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,g.throttle_min.get());
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, g.throttle_min.get());
         // Stop rotation in case of loitering and skid steering
         if (g.skid_steer_out) {
-            SRV_Channels::set_output_scaled(SRV_Channel::k_steering,0);
+            SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
         }
         return;
     }
@@ -127,7 +127,7 @@ void Rover::calc_throttle(float target_speed) {
     float speed_turn_ratio = constrain_float(fabsf(turn_angle / 9000.0f), 0, 1);
     float speed_turn_reduction = (100 - g.speed_turn_gain) * speed_turn_ratio * 0.01f;
 
-    float reduction = 1.0f - steer_rate*speed_turn_reduction;
+    float reduction = 1.0f - steer_rate * speed_turn_reduction;
 
     if (control_mode >= AUTO && wp_distance <= g.speed_turn_dist) {
         // in auto-modes we reduce speed when approaching waypoints
@@ -149,9 +149,9 @@ void Rover::calc_throttle(float target_speed) {
     throttle *= reduction;
 
     if (in_reverse) {
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,constrain_int16(-throttle, -g.throttle_max, -g.throttle_min));
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(-throttle, -g.throttle_max, -g.throttle_min));
     } else {
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,constrain_int16(throttle, g.throttle_min, g.throttle_max));
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(throttle, g.throttle_min, g.throttle_max));
     }
 
     if (!in_reverse && g.braking_percent != 0 && groundspeed_error < -g.braking_speederr) {
@@ -164,7 +164,7 @@ void Rover::calc_throttle(float target_speed) {
         // is 2*braking_speederr
         float brake_gain = constrain_float(((-groundspeed_error)-g.braking_speederr)/g.braking_speederr, 0, 1);
         int16_t braking_throttle = g.throttle_max * (g.braking_percent * 0.01f) * brake_gain;
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,constrain_int16(-braking_throttle, -g.throttle_max, -g.throttle_min));
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(-braking_throttle, -g.throttle_max, -g.throttle_min));
 
         // temporarily set us in reverse to allow the PWM setting to
         // go negative
@@ -209,9 +209,9 @@ void Rover::calc_lateral_acceleration() {
     if (use_pivot_steering()) {
         int16_t bearing_error = wrap_180_cd(nav_controller->target_bearing_cd() - ahrs.yaw_sensor) / 100;
         if (bearing_error > 0) {
-            lateral_acceleration = g.turn_max_g*GRAVITY_MSS;
+            lateral_acceleration = g.turn_max_g * GRAVITY_MSS;
         } else {
-            lateral_acceleration = -g.turn_max_g*GRAVITY_MSS;
+            lateral_acceleration = -g.turn_max_g * GRAVITY_MSS;
         }
     }
 }
@@ -222,7 +222,7 @@ void Rover::calc_lateral_acceleration() {
 void Rover::calc_nav_steer() {
     // check to see if the rover is loitering
     if (in_stationary_loiter()) {
-        SRV_Channels::set_output_scaled(SRV_Channel::k_steering,0);
+        SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
         return;
     }
 
@@ -232,9 +232,9 @@ void Rover::calc_nav_steer() {
     }
 
     // constrain to max G force
-    lateral_acceleration = constrain_float(lateral_acceleration, -g.turn_max_g*GRAVITY_MSS, g.turn_max_g*GRAVITY_MSS);
+    lateral_acceleration = constrain_float(lateral_acceleration, -g.turn_max_g * GRAVITY_MSS, g.turn_max_g * GRAVITY_MSS);
 
-    SRV_Channels::set_output_scaled(SRV_Channel::k_steering,steerController.get_steering_out_lat_accel(lateral_acceleration));
+    SRV_Channels::set_output_scaled(SRV_Channel::k_steering, steerController.get_steering_out_lat_accel(lateral_acceleration));
 }
 
 /*****************************************
@@ -245,41 +245,41 @@ void Rover::set_servos(void) {
 
     if (control_mode == MANUAL || control_mode == LEARNING) {
         // do a direct pass through of radio values
-        SRV_Channels::set_output_pwm(SRV_Channel::k_steering,channel_steer->read());
-        SRV_Channels::set_output_pwm(SRV_Channel::k_throttle,channel_throttle->read());
+        SRV_Channels::set_output_pwm(SRV_Channel::k_steering, channel_steer->read());
+        SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, channel_throttle->read());
         if (failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
             // suppress throttle if in failsafe and manual
-            SRV_Channels::set_output_pwm(SRV_Channel::k_throttle,channel_throttle->get_radio_trim());
+            SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, channel_throttle->get_radio_trim());
             // suppress steer if in failsafe and manual and skid steer mode
             if (g.skid_steer_out) {
-                SRV_Channels::set_output_pwm(SRV_Channel::k_steering,channel_steer->get_radio_trim());
+                SRV_Channels::set_output_pwm(SRV_Channel::k_steering, channel_steer->get_radio_trim());
             }
         }
     } else {
         if (in_reverse) {
-            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,constrain_int16(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle),
+            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle),
                                           -g.throttle_max,
                                           -g.throttle_min));
         } else {
-            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,constrain_int16(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle),
+            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle),
                                           g.throttle_min.get(),
                                           g.throttle_max.get()));
         }
 
         if ((failsafe.bits & FAILSAFE_EVENT_THROTTLE) && control_mode < AUTO) {
             // suppress throttle if in failsafe
-            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,0);
+            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
             // suppress steer if in failsafe and skid steer mode
             if (g.skid_steer_out) {
-                SRV_Channels::set_output_scaled(SRV_Channel::k_steering,0);
+                SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
             }
         }
 
         if (!hal.util->get_soft_armed()) {
-            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,0);
+            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
             // suppress steer if in failsafe and skid steer mode
             if (g.skid_steer_out) {
-                SRV_Channels::set_output_scaled(SRV_Channel::k_steering,0);
+                SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
             }
         }
 
@@ -299,12 +299,12 @@ void Rover::set_servos(void) {
             motor1 = throttle + 0.5*steering
             motor2 = throttle - 0.5*steering
         */
-        float steering_scaled = SRV_Channels::get_output_norm(SRV_Channel::k_steering);
-        float throttle_scaled = SRV_Channels::get_output_norm(SRV_Channel::k_throttle);
-        float motor1 = throttle_scaled + 0.5f*steering_scaled;
-        float motor2 = throttle_scaled - 0.5f*steering_scaled;
-        SRV_Channels::set_output_scaled(SRV_Channel::k_steering,4500*motor1);
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,100*motor2);
+        const float steering_scaled = SRV_Channels::get_output_norm(SRV_Channel::k_steering);
+        const float throttle_scaled = SRV_Channels::get_output_norm(SRV_Channel::k_throttle);
+        float motor1 = throttle_scaled + 0.5f * steering_scaled;
+        float motor2 = throttle_scaled - 0.5f * steering_scaled;
+        SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 4500 * motor1);
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 100 * motor2);
     }
 
     if (!arming.is_armed()) {
@@ -317,17 +317,17 @@ void Rover::set_servos(void) {
             break;
 
         case AP_Arming::YES_ZERO_PWM:
-            SRV_Channels::set_output_pwm(SRV_Channel::k_throttle,0);
+            SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, 0);
             if (g.skid_steer_out) {
-                SRV_Channels::set_output_pwm(SRV_Channel::k_steering,0);
+                SRV_Channels::set_output_pwm(SRV_Channel::k_steering, 0);
             }
             break;
 
         case AP_Arming::YES_MIN_PWM:
         default:
-            SRV_Channels::set_output_pwm(SRV_Channel::k_throttle,channel_throttle->get_radio_trim());
+            SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, channel_throttle->get_radio_trim());
             if (g.skid_steer_out) {
-                SRV_Channels::set_output_pwm(SRV_Channel::k_steering,channel_steer->get_radio_trim());
+                SRV_Channels::set_output_pwm(SRV_Channel::k_steering, channel_steer->get_radio_trim());
             }
             break;
         }