diff --git a/README.md b/README.md
index 669b51d602..eac31e5d61 100644
--- a/README.md
+++ b/README.md
@@ -57,9 +57,9 @@ This repository contains code supporting these boards:
   * FMUv5.x (ARM Cortex M7, future Pixhawk)
   * AeroCore (v1 and v2)
   * STM32F4Discovery (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
-  * MindPX V2.8 [Tutorial] (http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
-  * MindRacer V1.2 [Tutorial] (http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  
+  * MindPX V2.8 [Tutorial](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
+  * MindRacer V1.2 [Tutorial](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
+
 ## Project Milestones
 
 The PX4 software and Pixhawk hardware (which has been designed for it) has been created in 2011 by Lorenz Meier.
diff --git a/Tools/scp_upload.sh b/Tools/scp_upload.sh
index 3faebcb96c..50d93dbb29 100755
--- a/Tools/scp_upload.sh
+++ b/Tools/scp_upload.sh
@@ -30,4 +30,3 @@ echo "Uploading $src_files..."
 
 # Upload files
 scp -r $src_files ${user}@${host}:$last
-
diff --git a/cmake/configs/posix_sitl_inav.cmake b/cmake/configs/posix_sitl_inav.cmake
index 1df0cd057a..3007a6b930 100644
--- a/cmake/configs/posix_sitl_inav.cmake
+++ b/cmake/configs/posix_sitl_inav.cmake
@@ -2,5 +2,4 @@ include(cmake/configs/posix_sitl_default.cmake)
 
 set(config_sitl_rcS_dir
 	posix-configs/SITL/init/inav
-	)
-
+	)
\ No newline at end of file
diff --git a/launch/posix_sitl.launch b/launch/posix_sitl.launch
index 44838932dd..f82359a35a 100644
--- a/launch/posix_sitl.launch
+++ b/launch/posix_sitl.launch
@@ -6,7 +6,7 @@
     <arg name="z" default="0"/>
     <arg name="R" default="0"/>
     <arg name="P" default="0"/>
-    <arg name="Y" default="0"/> 
+    <arg name="Y" default="0"/>
     <arg name="est" default="lpe"/>
     <arg name="vehicle" default="iris"/>
     <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
@@ -40,4 +40,4 @@
 
 </launch>
 
-<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
+<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
\ No newline at end of file
diff --git a/msg/vehicle_command.msg b/msg/vehicle_command.msg
index 6ff52275ab..1c915aca75 100644
--- a/msg/vehicle_command.msg
+++ b/msg/vehicle_command.msg
@@ -32,8 +32,8 @@ uint32 VEHICLE_CMD_DO_REPEAT_RELAY = 182		# Cycle a relay on and off for a desir
 uint32 VEHICLE_CMD_DO_SET_SERVO = 183			# Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| 
 uint32 VEHICLE_CMD_DO_REPEAT_SERVO = 184		# Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| 
 uint32 VEHICLE_CMD_DO_FLIGHTTERMINATION = 185		# Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| 
-uint32 VEHICLE_CMD_DO_LAND_START = 189			# Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0/0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty|  */ 
-uint32 VEHICLE_CMD_DO_GO_AROUND = 191			# Mission command to safely abort an autonmous landing. |Altitude (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */ 
+uint32 VEHICLE_CMD_DO_LAND_START = 189			# Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0/0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty|  */
+uint32 VEHICLE_CMD_DO_GO_AROUND = 191			# Mission command to safely abort an autonmous landing. |Altitude (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
 uint32 VEHICLE_CMD_DO_REPOSITION = 192
 uint32 VEHICLE_CMD_DO_PAUSE_CONTINUE = 193
 uint32 VEHICLE_CMD_DO_CONTROL_VIDEO = 200		# Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
index 1917770e81..b216360583 100644
--- a/src/modules/navigator/mission.h
+++ b/src/modules/navigator/mission.h
@@ -91,7 +91,7 @@ public:
 		MISSION_YAWMODE_BACK_TO_HOME = 3,
 		MISSION_YAWMODE_MAX = 4
 	};
-	
+
 	bool set_current_offboard_mission_index(unsigned index);
 
 	unsigned find_offboard_land_start();
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index c99d2c67fa..358d5e124f 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -2209,7 +2209,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 				log_msg.body.log_INO2.s[8] = buf.innovations.airspeed_innov;
 				log_msg.body.log_INO2.s[9] = buf.innovations.airspeed_innov_var;
 				log_msg.body.log_INO2.s[10] = buf.innovations.beta_innov;
- 				log_msg.body.log_INO2.s[11] = buf.innovations.beta_innov_var;
+				log_msg.body.log_INO2.s[11] = buf.innovations.beta_innov_var;
 				LOGBUFFER_WRITE_AND_COUNT(EST5);
 
 				log_msg.msg_type = LOG_EST6_MSG;
diff --git a/src/modules/systemlib/flashparams/flashfs.c b/src/modules/systemlib/flashparams/flashfs.c
index d3a8d1c19d..69527934ac 100644
--- a/src/modules/systemlib/flashparams/flashfs.c
+++ b/src/modules/systemlib/flashparams/flashfs.c
@@ -55,7 +55,6 @@
 #include <nuttx/compiler.h>
 #include <nuttx/progmem.h>
 
-
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
@@ -943,7 +942,6 @@ int parameter_flashfs_alloc(flash_file_token_t token, uint8_t **buffer, size_t *
 			rv = 0;
 
 		}
-
 	}
 
 	return rv;
diff --git a/src/modules/systemlib/flashparams/flashparams.c b/src/modules/systemlib/flashparams/flashparams.c
index 69aefb03ad..cff1827045 100644
--- a/src/modules/systemlib/flashparams/flashparams.c
+++ b/src/modules/systemlib/flashparams/flashparams.c
@@ -30,6 +30,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
+
 /**
  * @file flashparam.c
  *
diff --git a/src/modules/uORB/uORBDevices.hpp b/src/modules/uORB/uORBDevices.hpp
index 01ab0aa0de..ef3f6364b6 100644
--- a/src/modules/uORB/uORBDevices.hpp
+++ b/src/modules/uORB/uORBDevices.hpp
@@ -335,5 +335,3 @@ private:
 #endif
 	hrt_abstime       _last_statistics_output;
 };
-
-