diff --git a/buzz_scripts/include/uavstates.bzz b/buzz_scripts/include/uavstates.bzz
index 8824173..843f34f 100644
--- a/buzz_scripts/include/uavstates.bzz
+++ b/buzz_scripts/include/uavstates.bzz
@@ -61,7 +61,7 @@ function land() {
 function set_goto(transf) {
 	UAVSTATE = "GOTOGPS"
 	statef=function() {
-    gotoWPRRT(transf)
+    gotoWP(transf)
   }
 
 	if(rc_goto.id==id){
diff --git a/include/buzz_update.h b/include/buzz_update.h
index d858deb..5680f85 100644
--- a/include/buzz_update.h
+++ b/include/buzz_update.h
@@ -129,9 +129,9 @@ void destroy_out_msg_queue();
 /***************************************************/
 /*obatins updater state*/
 /***************************************************/
-//int get_update_mode();
+// int get_update_mode();
 
-//buzz_updater_elem_t get_updater();
+// buzz_updater_elem_t get_updater();
 /***************************************************/
 /*sets bzz file name*/
 /***************************************************/
@@ -155,7 +155,7 @@ int compile_bzz(std::string bzz_file);
 
 void updates_set_robots(int robots);
 
-//void set_packet_id(int packet_id);
+// void set_packet_id(int packet_id);
 
-//void collect_data(std::ofstream& logger);
+// void collect_data(std::ofstream& logger);
 #endif
diff --git a/include/buzzuav_closures.h b/include/buzzuav_closures.h
index 71eb847..56f0bd6 100644
--- a/include/buzzuav_closures.h
+++ b/include/buzzuav_closures.h
@@ -85,7 +85,7 @@ void set_deque_full(bool state);
 void set_rssi(float value);
 void set_raw_packet_loss(float value);
 void set_filtered_packet_loss(float value);
-//void set_api_rssi(float value);
+// void set_api_rssi(float value);
 /*
  * sets current position
  */
diff --git a/src/buzz_update.cpp b/src/buzz_update.cpp
index d9696ca..1d169f9 100644
--- a/src/buzz_update.cpp
+++ b/src/buzz_update.cpp
@@ -267,7 +267,7 @@ void code_message_outqueue_append()
   *(uint16_t*)(updater->outmsg_queue->queue + size) = (uint16_t) * (size_t*)(updater->patch_size);
   size += sizeof(uint16_t);
   memcpy(updater->outmsg_queue->queue + size, updater->patch, *(size_t*)(updater->patch_size));
-  //size += (uint16_t) * (size_t*)(updater->patch_size);
+  // size += (uint16_t) * (size_t*)(updater->patch_size);
   updater_msg_ready = 1;
 }
 
@@ -713,7 +713,8 @@ int compile_bzz(std::string bzz_file)
   double time_spent = (t2.tv_sec - t1.tv_sec) * 1000.0;  //(double)(end - begin) / CLOCKS_PER_SEC;
   time_spent += (t2.tv_usec - t1.tv_usec) / 1000.0;
   // RID,update trigger,time steps taken,old byte code size, new bytecode size, patch size,update number,
-  // Patch_packets_received_counter,Patch_request_packets_received,Patch_packets_sent_counter,Patch_request_packets_sent_counter
+  //
+Patch_packets_received_counter,Patch_request_packets_received,Patch_packets_sent_counter,Patch_request_packets_sent_counter
   logger << (int)no_of_robot << "," << neigh << "," << (double)time_spent << "," << (int)timer_steps << ","
          << old_byte_code_size << "," << *(size_t*)updater->bcode_size << "," << *(size_t*)updater->patch_size << ","
          << (int)*(uint8_t*)updater->update_no << "," << (int)packet_id_;
diff --git a/src/buzzuav_closures.cpp b/src/buzzuav_closures.cpp
index b5b6286..6b380d6 100644
--- a/src/buzzuav_closures.cpp
+++ b/src/buzzuav_closures.cpp
@@ -154,7 +154,7 @@ void parse_gpslist()
     double lon = atof(strtok(NULL, DELIMS));
     double lat = atof(strtok(NULL, DELIMS));
     int alt = atoi(strtok(NULL, DELIMS));
-    //int tilt = atoi(strtok(NULL, DELIMS));
+    // int tilt = atoi(strtok(NULL, DELIMS));
     //  DEBUG
     // ROS_INFO("%.6f, %.6f, %i %i %i",lat, lon, alt, tilt, tid);
     RB_arr.latitude = lat;
@@ -178,28 +178,29 @@ int buzz_exportmap(buzzvm_t vm)
 / Buzz closure to export a 2D map
 /----------------------------------------*/
 {
-       /* Make sure one parameter has been passed */
-       buzzvm_lnum_assert(vm, 1);
-       /* Get the parameter */
-       buzzvm_lload(vm, 1);
-       buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE);    // matrix
-       /* Get the table */
-       buzzobj_t t = buzzvm_stack_at(vm, 1);
-       /* Copy the values into a vector */
-       std::vector<float> mat;
-       for(int32_t i = 0; i < buzzdict_size(t->t.value); ++i) {
-          /* Duplicate the table */
-          buzzvm_dup(vm);
-          /* Push the index */
-          buzzvm_pushi(vm, i);
-          /* Get the value */
-          buzzvm_tget(vm);
-          /* Store it in the vector (assume all values are float, no mistake...) */
-          mat.push_back((float)buzzvm_stack_at(vm, 1)->f.value);
-          /* Get rid of the value, now useless */
-          buzzvm_pop(vm);
-       }
-       return buzzvm_ret0(vm);
+  /* Make sure one parameter has been passed */
+  buzzvm_lnum_assert(vm, 1);
+  /* Get the parameter */
+  buzzvm_lload(vm, 1);
+  buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE);  // matrix
+  /* Get the table */
+  buzzobj_t t = buzzvm_stack_at(vm, 1);
+  /* Copy the values into a vector */
+  std::vector<float> mat;
+  for (int32_t i = 0; i < buzzdict_size(t->t.value); ++i)
+  {
+    /* Duplicate the table */
+    buzzvm_dup(vm);
+    /* Push the index */
+    buzzvm_pushi(vm, i);
+    /* Get the value */
+    buzzvm_tget(vm);
+    /* Store it in the vector (assume all values are float, no mistake...) */
+    mat.push_back((float)buzzvm_stack_at(vm, 1)->f.value);
+    /* Get rid of the value, now useless */
+    buzzvm_pop(vm);
+  }
+  return buzzvm_ret0(vm);
 }
 
 int buzzuav_moveto(buzzvm_t vm)