diff --git a/APMrover2/Log.cpp b/APMrover2/Log.cpp
index 8f00f6d135..aebcabc3e3 100644
--- a/APMrover2/Log.cpp
+++ b/APMrover2/Log.cpp
@@ -467,9 +467,9 @@ void Rover::Log_Write_WheelEncoder()
         LOG_PACKET_HEADER_INIT(LOG_WHEELENCODER_MSG),
         time_us     : AP_HAL::micros64(),
         distance_0  : g2.wheel_encoder.get_distance(0),
-        quality_0   : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(0),0.0f,100.0f),
+        quality_0   : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(0), 0.0f, 100.0f),
         distance_1  : g2.wheel_encoder.get_distance(1),
-        quality_1   : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(1),0.0f,100.0f)
+        quality_1   : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(1), 0.0f, 100.0f)
     };
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 }
@@ -503,7 +503,6 @@ void Rover::log_init(void)
     DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
 
     gcs().reset_cli_timeout();
-
 }
 
 #if CLI_ENABLED == ENABLED
diff --git a/APMrover2/radio.cpp b/APMrover2/radio.cpp
index 764b08e82f..413e1fa878 100644
--- a/APMrover2/radio.cpp
+++ b/APMrover2/radio.cpp
@@ -129,7 +129,7 @@ void Rover::read_radio()
         const float left_input = channel_steer->norm_input();
         const float right_input = channel_throttle->norm_input();
         const float throttle_scaled = 0.5f * (left_input + right_input);
-        float steering_scaled = constrain_float(left_input - right_input,-1.0f,1.0f);
+        float steering_scaled = constrain_float(left_input - right_input, -1.0f, 1.0f);
 
         // flip the steering direction if requesting the vehicle reverse (to be consistent with separate steering-throttle frames)
         if (is_negative(throttle_scaled)) {
diff --git a/APMrover2/sensors.cpp b/APMrover2/sensors.cpp
index a8b2cd6bdb..a2c1694587 100644
--- a/APMrover2/sensors.cpp
+++ b/APMrover2/sensors.cpp
@@ -104,10 +104,10 @@ void Rover::update_wheel_encoder()
     g2.wheel_encoder.update();
 
     // initialise on first iteration
-    uint32_t now = AP_HAL::millis();
+    const uint32_t now = AP_HAL::millis();
     if (wheel_encoder_last_ekf_update_ms == 0) {
         wheel_encoder_last_ekf_update_ms = now;
-        for (uint8_t i = 0; i<g2.wheel_encoder.num_sensors(); i++) {
+        for (uint8_t i = 0; i < g2.wheel_encoder.num_sensors(); i++) {
             wheel_encoder_last_angle_rad[i] = g2.wheel_encoder.get_delta_angle(i);
             wheel_encoder_last_update_ms[i] = g2.wheel_encoder.get_last_reading_ms(i);
         }
@@ -119,18 +119,17 @@ void Rover::update_wheel_encoder()
     // send delta time (time between this wheel encoder time and previous wheel encoder time)
     // in case where wheel hasn't moved, count = 0 (cap the delta time at 50ms - or system time)
     //     use system clock of last update instead of time of last ping
-    float system_dt = (now - wheel_encoder_last_ekf_update_ms) / 1000.0f;
-    for (uint8_t i = 0; i<g2.wheel_encoder.num_sensors(); i++) {
-
+    const float system_dt = (now - wheel_encoder_last_ekf_update_ms) / 1000.0f;
+    for (uint8_t i = 0; i < g2.wheel_encoder.num_sensors(); i++) {
         // calculate angular change (in radians)
-        float curr_angle_rad = g2.wheel_encoder.get_delta_angle(i);
-        float delta_angle = curr_angle_rad - wheel_encoder_last_angle_rad[i];
+        const float curr_angle_rad = g2.wheel_encoder.get_delta_angle(i);
+        const float delta_angle = curr_angle_rad - wheel_encoder_last_angle_rad[i];
         wheel_encoder_last_angle_rad[i] = curr_angle_rad;
 
         // calculate delta time
         float delta_time;
-        uint32_t latest_sensor_update_ms = g2.wheel_encoder.get_last_reading_ms(i);
-        uint32_t sensor_diff_ms = latest_sensor_update_ms - wheel_encoder_last_update_ms[i];
+        const uint32_t latest_sensor_update_ms = g2.wheel_encoder.get_last_reading_ms(i);
+        const uint32_t sensor_diff_ms = latest_sensor_update_ms - wheel_encoder_last_update_ms[i];
 
         // if we have not received any sensor updates, or time difference is too high then use time since last update to the ekf
         // check for old or insane sensor update times
@@ -155,7 +154,6 @@ void Rover::update_wheel_encoder()
         } else {
             wheel_encoder_rpm[i] = 0.0f;
         }
-
     }
 
     // record system time update for next iteration