diff --git a/libraries/AP_Math/AP_GeodesicGrid.cpp b/libraries/AP_Math/AP_GeodesicGrid.cpp
index 4717494381..edf7a409f8 100644
--- a/libraries/AP_Math/AP_GeodesicGrid.cpp
+++ b/libraries/AP_Math/AP_GeodesicGrid.cpp
@@ -184,8 +184,7 @@ const Matrix3f AP_GeodesicGrid::_mid_inverses[10]{
      { 0.618034f,  0.000000f, -1.000000f}},
 };
 
-int AP_GeodesicGrid::section(const Vector3f& v,
-                             const bool inclusive)
+int AP_GeodesicGrid::section(const Vector3f &v, bool inclusive)
 {
     int i = _triangle_index(v, inclusive);
     if (i < 0) {
@@ -200,8 +199,7 @@ int AP_GeodesicGrid::section(const Vector3f& v,
     return 4 * i + j;
 }
 
-int AP_GeodesicGrid::_neighbor_umbrella_component(int idx,
-                                                  int comp_idx)
+int AP_GeodesicGrid::_neighbor_umbrella_component(int idx, int comp_idx)
 {
     if (idx < 3) {
         return _neighbor_umbrellas[idx].components[comp_idx];
@@ -210,8 +208,8 @@ int AP_GeodesicGrid::_neighbor_umbrella_component(int idx,
 }
 
 int AP_GeodesicGrid::_from_neighbor_umbrella(int idx,
-                                             const Vector3f& v,
-                                             const Vector3f& u,
+                                             const Vector3f &v,
+                                             const Vector3f &u,
                                              bool inclusive)
 {
     /* The following comparisons between the umbrella's first and second
@@ -306,8 +304,7 @@ int AP_GeodesicGrid::_from_neighbor_umbrella(int idx,
     }
 }
 
-int AP_GeodesicGrid::_triangle_index(const Vector3f& v,
-                                     const bool inclusive)
+int AP_GeodesicGrid::_triangle_index(const Vector3f &v, bool inclusive)
 {
     /* w holds the coordinates of v with respect to the basis comprised by the
      * vectors of T_i */
@@ -441,8 +438,8 @@ int AP_GeodesicGrid::_triangle_index(const Vector3f& v,
 }
 
 int AP_GeodesicGrid::_subtriangle_index(const unsigned int triangle_index,
-                                        const Vector3f& v,
-                                        const bool inclusive)
+                                        const Vector3f &v,
+                                        bool inclusive)
 {
     /* w holds the coordinates of v with respect to the basis comprised by the
      * vectors of the middle triangle of T_i where i is triangle_index */
diff --git a/libraries/AP_Math/AP_GeodesicGrid.h b/libraries/AP_Math/AP_GeodesicGrid.h
index d90a8b39c1..bb502360bb 100644
--- a/libraries/AP_Math/AP_GeodesicGrid.h
+++ b/libraries/AP_Math/AP_GeodesicGrid.h
@@ -123,7 +123,7 @@ public:
      * the null vector or the section isn't found, which might happen when \p
      * inclusive is false.
      */
-    static int section(const Vector3f& v, const bool inclusive = false);
+    static int section(const Vector3f &v, bool inclusive = false);
 
 private:
     /*
@@ -235,8 +235,8 @@ private:
      *
      * @return The icosahedron triangle's index of the component.
      */
-    static int _neighbor_umbrella_component(int umbrella_index,
-                                            int component_index);
+    static int _neighbor_umbrella_component(int umbrella_index, int component_idx);
+
     /**
      * Find the icosahedron triangle index of the component of
      * #_neighbor_umbrellas[umbrella_index] that is crossed by \p v.
@@ -257,8 +257,8 @@ private:
      * happen when \p inclusive is false.
      */
     static int _from_neighbor_umbrella(int umbrella_index,
-                                       const Vector3f& v,
-                                       const Vector3f& u,
+                                       const Vector3f &v,
+                                       const Vector3f &u,
                                        bool inclusive);
 
     /**
@@ -272,7 +272,7 @@ private:
      * @return The index of the triangle. The value -1 is returned if the
      * triangle isn't found, which might happen when \p inclusive is false.
      */
-    static int _triangle_index(const Vector3f& v, const bool inclusive);
+    static int _triangle_index(const Vector3f &v, bool inclusive);
 
     /**
      * Find which sub-triangle of the icosahedron's triangle pointed by \p
@@ -293,6 +293,6 @@ private:
      * triangle isn't found, which might happen when \p inclusive is false.
      */
     static int _subtriangle_index(const unsigned int triangle_index,
-                                  const Vector3f& v,
-                                  const bool inclusive);
+                                  const Vector3f &v,
+                                  bool inclusive);
 };
diff --git a/libraries/AP_Math/tests/test_geodesic_grid.cpp b/libraries/AP_Math/tests/test_geodesic_grid.cpp
index c16eae32f2..4365ff7a6f 100644
--- a/libraries/AP_Math/tests/test_geodesic_grid.cpp
+++ b/libraries/AP_Math/tests/test_geodesic_grid.cpp
@@ -47,7 +47,7 @@ protected:
      *
      * @param p[in] The test parameter.
      */
-    void test_triangles_indexes(const TestParam& p) {
+    void test_triangles_indexes(const TestParam &p) {
         if (p.section >= 0) {
             int expected_triangle =
                     p.section / AP_GeodesicGrid::NUM_SUBTRIANGLES;
@@ -96,39 +96,39 @@ static const Vector3f triangles[20][3] = {
 };
 
 static bool section_triangle(unsigned int section_index,
-                             Vector3f& a,
-                             Vector3f& b,
-                             Vector3f& c) {
+                             Vector3f &a,
+                             Vector3f &b,
+                             Vector3f &c) {
     if (section_index >= 80) {
         return false;
     }
 
     unsigned int i = section_index / 4;
     unsigned int j = section_index % 4;
-    auto& t = triangles[i];
+    auto &t = triangles[i];
     Vector3f mt[3]{(t[0] + t[1]) / 2, (t[1] + t[2]) / 2, (t[2] + t[0]) / 2};
 
     switch (j) {
-        case 0:
-            a = mt[0];
-            b = mt[1];
-            c = mt[2];
-            break;
-        case 1:
-            a = t[0];
-            b = mt[0];
-            c = mt[2];
-            break;
-        case 2:
-            a = mt[0];
-            b = t[1];
-            c = mt[1];
-            break;
-        case 3:
-            a = mt[2];
-            b = mt[1];
-            c = t[2];
-            break;
+    case 0:
+        a = mt[0];
+        b = mt[1];
+        c = mt[2];
+        break;
+    case 1:
+        a = t[0];
+        b = mt[0];
+        c = mt[2];
+        break;
+    case 2:
+        a = mt[0];
+        b = t[1];
+        c = mt[1];
+        break;
+    case 3:
+        a = mt[2];
+        b = mt[1];
+        c = t[2];
+        break;
     }
 
     return true;