diff --git a/Makefile b/Makefile
index 032e7f6f63..065830b19d 100755
--- a/Makefile
+++ b/Makefile
@@ -296,10 +296,18 @@ test_startup_shutdown:
 	@$(call PX4_RUN,$(MAKE) --no-print-directory posix_sitl_test gazebo_standard_vtol HEADLESS=1 MEMORY_DEBUG=1)
 
 scan-build:
-	export CCACHE_DISABLE=1
-	mkdir -p $(SRC_DIR)/build_posix_sitl_default_scan-build
-	cd $(SRC_DIR)/build_posix_sitl_default_scan-build && scan-build cmake .. -GNinja -DCONFIG=posix_sitl_default
-	scan-build cmake --build $(SRC_DIR)/build_posix_sitl_default_scan-build
+	@export CCACHE_DISABLE=1
+	@mkdir -p $(SRC_DIR)/build_posix_sitl_default_scan-build
+	@cd $(SRC_DIR)/build_posix_sitl_default_scan-build && scan-build cmake .. -GNinja -DCONFIG=posix_sitl_default
+	@scan-build cmake --build $(SRC_DIR)/build_posix_sitl_default_scan-build
+
+clang-check:
+	@CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default
+	@$(SRC_DIR)/Tools/clang-tool.sh -b build_posix_sitl_default -t clang-check
+
+clang-tidy:
+	@CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default
+	@$(SRC_DIR)/Tools/clang-tool.sh -b build_posix_sitl_default -t clang-tidy
 
 package_firmware:
 	@zip --junk-paths Firmware.zip `find Binaries/. -name \*.px4`
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 3c6216ccd1..ce9d9b0278 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -746,13 +746,6 @@ function(px4_add_common_flags)
 		set(max_optimization -O0)
 	endif()
 
-	if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
-		list(APPEND _optimization_flags
-			-fno-strength-reduce
-			-fno-builtin-printf
-		)
-	endif()
-
 	set(c_warnings
 		-Wbad-function-cast
 		-Wstrict-prototypes
@@ -760,13 +753,6 @@ function(px4_add_common_flags)
 		-Wnested-externs
 		)
 
-	if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
-		list(APPEND c_warnings
-			-Wold-style-declaration
-			-Wmissing-parameter-type
-		)
-	endif()
-
 	set(c_compile_flags
 		-g
 		-std=gnu99
@@ -787,7 +773,18 @@ function(px4_add_common_flags)
 		-D__CUSTOM_FILE_IO__
 		)
 
-	if (NOT (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*"))
+	# clang
+	if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
+		# force color for clang (needed for clang + ccache)
+		list(APPEND _optimization_flags
+			-fcolor-diagnostics
+		)
+	else()
+		list(APPEND _optimization_flags
+			-fno-strength-reduce
+			-fno-builtin-printf
+		)
+
 		# -fcheck-new is a no-op for Clang in general
 		# and has no effect, but can generate a compile
 		# error for some OS
@@ -821,21 +818,18 @@ function(px4_add_common_flags)
 		)
 
 	set(added_include_dirs
-		${PX4_SOURCE_DIR}/src
 		${PX4_BINARY_DIR}
 		${PX4_BINARY_DIR}/src
-		${PX4_SOURCE_DIR}/src/modules
+		${PX4_BINARY_DIR}/src/modules
+		${PX4_BINARY_DIR}/src/modules/px4_messages
+		${PX4_SOURCE_DIR}/mavlink/include/mavlink
+		${PX4_SOURCE_DIR}/src
+		${PX4_SOURCE_DIR}/src/drivers/boards/${BOARD}
 		${PX4_SOURCE_DIR}/src/include
 		${PX4_SOURCE_DIR}/src/lib
-		${PX4_SOURCE_DIR}/src/platforms
-		# TODO Build/versioning was in Makefile,
-		# do we need this, how does it work with cmake
-		${PX4_SOURCE_DIR}/src/drivers/boards/${BOARD}
-		${PX4_BINARY_DIR}
-		${PX4_BINARY_DIR}/src/modules/px4_messages
-		${PX4_BINARY_DIR}/src/modules
-		${PX4_SOURCE_DIR}/mavlink/include/mavlink
 		${PX4_SOURCE_DIR}/src/lib/DriverFramework/framework/include
+		${PX4_SOURCE_DIR}/src/modules
+		${PX4_SOURCE_DIR}/src/platforms
 		)
 
 	list(APPEND added_include_dirs
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index a918d6de3d..d8687f986f 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -393,7 +393,7 @@ int sdlog2_main(int argc, char *argv[])
 		return 0;
 	}
 
-	if (!strcmp(argv[1], "on")) {
+	if (!strncmp(argv[1], "on", 2)) {
 		struct vehicle_command_s cmd;
 		cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE;
 		cmd.param1 = -1;