diff --git a/robot/autonomy/controls/px4_interface/src/px4_interface.cpp b/robot/autonomy/controls/px4_interface/src/px4_interface.cpp
index 086396a7..00043af6 100644
--- a/robot/autonomy/controls/px4_interface/src/px4_interface.cpp
+++ b/robot/autonomy/controls/px4_interface/src/px4_interface.cpp
@@ -9,10 +9,11 @@
 #include <tf2/LinearMath/Quaternion.h>
 #include <tf2/LinearMath/Matrix3x3.h>
 
-namespace px4_interface {
+namespace px4_interface
+{
 
-
-  class PX4Interface : public robot_interface::RobotInterface {
+  class PX4Interface : public robot_interface::RobotInterface
+  {
   private:
     rclcpp::Client<mavros_msgs::srv::SetMode>::SharedPtr set_mode_client;
     rclcpp::Client<mavros_msgs::srv::CommandBool>::SharedPtr arming_client;
@@ -27,45 +28,46 @@ namespace px4_interface {
 
     bool got_pixhawk_yaw;
     float pixhawk_yaw;
-    
+
   public:
-    
-    PX4Interface(){
+    PX4Interface()
+    {
     }
 
-    virtual void initialize(std::shared_ptr<rclcpp::Node> node){
+    virtual void initialize(std::shared_ptr<rclcpp::Node> node)
+    {
       this->node = node;
       got_state = false;
-      
+
       set_mode_client = node->create_client<mavros_msgs::srv::SetMode>("mavros/set_mode");
       arming_client = node->create_client<mavros_msgs::srv::CommandBool>("mavros/cmd/arming");
-      
+
       attitude_target_pub = node->create_publisher<mavros_msgs::msg::AttitudeTarget>("mavros/setpoint_raw/attitude", 1);
 
       state_sub = node->create_subscription<mavros_msgs::msg::State>("mavros/state", 1,
-								     std::bind(&PX4Interface::state_callback, this,
-									       std::placeholders::_1));
+                                                                     std::bind(&PX4Interface::state_callback, this,
+                                                                               std::placeholders::_1));
       pixhawk_pose_sub = node->create_subscription<geometry_msgs::msg::PoseStamped>("mavros/local_position/pose", 1,
-										    std::bind(&PX4Interface::pixhawk_pose_callback,
-											      this, std::placeholders::_1));
-
+                                                                                    std::bind(&PX4Interface::pixhawk_pose_callback,
+                                                                                              this, std::placeholders::_1));
     }
-    
-    virtual ~PX4Interface(){
-      
+
+    virtual ~PX4Interface()
+    {
     }
 
-    void roll_pitch_yawrate_thrust_callback(mav_msgs::msg::RollPitchYawrateThrust msg) override {
-      if(!got_pixhawk_yaw)
-	return;
-      
+    void roll_pitch_yawrate_thrust_callback(mav_msgs::msg::RollPitchYawrateThrust msg) override
+    {
+      if (!got_pixhawk_yaw)
+        return;
+
       mavros_msgs::msg::AttitudeTarget att;
-      att.header.stamp = node->get_clock()->now();//.to_msg();
+      att.header.stamp = node->get_clock()->now(); //.to_msg();
       att.type_mask = mavros_msgs::msg::AttitudeTarget::IGNORE_ROLL_RATE | mavros_msgs::msg::AttitudeTarget::IGNORE_PITCH_RATE;
       tf2::Matrix3x3 m;
       m.setRPY(msg.roll,
-	       msg.pitch,
-	       pixhawk_yaw);
+               msg.pitch,
+               pixhawk_yaw);
       tf2::Quaternion q;
       m.getRotation(q);
       att.body_rate.z = msg.yaw_rate;
@@ -79,76 +81,80 @@ namespace px4_interface {
       attitude_target_pub->publish(att);
     }
 
-    bool request_control() override {
+    bool request_control() override
+    {
       bool success = false;
-      
+
       auto request = std::make_shared<mavros_msgs::srv::SetMode::Request>();
       request->custom_mode = "OFFBOARD";
-      
+
       auto result = set_mode_client->async_send_request(request);
       if (rclcpp::spin_until_future_complete(node, result) == rclcpp::FutureReturnCode::SUCCESS)
-	success = true;
+        success = true;
 
       return success;
     }
-    
-    bool arm() override {
+
+    bool arm() override
+    {
       bool success = false;
-      
+
       auto request = std::make_shared<mavros_msgs::srv::CommandBool::Request>();
       request->value = true;
-      
+
       auto result = arming_client->async_send_request(request);
       if (rclcpp::spin_until_future_complete(node, result) == rclcpp::FutureReturnCode::SUCCESS)
-	success = true;
+        success = true;
 
       return success;
     }
-    
-    bool disarm() override {
+
+    bool disarm() override
+    {
       bool success = false;
-      
+
       auto request = std::make_shared<mavros_msgs::srv::CommandBool::Request>();
       request->value = false;
-      
+
       auto result = arming_client->async_send_request(request);
       if (rclcpp::spin_until_future_complete(node, result) == rclcpp::FutureReturnCode::SUCCESS)
-	success = true;
+        success = true;
 
       return success;
     }
-    
-    bool is_armed() override {
+
+    bool is_armed() override
+    {
       return got_state && current_state.armed;
     }
-    
-    bool has_control() override {
+
+    bool has_control() override
+    {
       return got_state && current_state.mode == "OFFBOARD";
     }
 
-
-    void state_callback(const mavros_msgs::msg::State::SharedPtr msg){
+    void state_callback(const mavros_msgs::msg::State::SharedPtr msg)
+    {
       got_state = true;
       current_state = *msg;
     }
 
-    void pixhawk_pose_callback(const geometry_msgs::msg::PoseStamped::SharedPtr pose){
+    void pixhawk_pose_callback(const geometry_msgs::msg::PoseStamped::SharedPtr pose)
+    {
       tf2::Quaternion q(pose->pose.orientation.x,
-			pose->pose.orientation.y,
-			pose->pose.orientation.z,
-			pose->pose.orientation.w);
+                        pose->pose.orientation.y,
+                        pose->pose.orientation.z,
+                        pose->pose.orientation.w);
       double roll, pitch, yaw;
       tf2::Matrix3x3(q).getRPY(roll, pitch, yaw);
 
       got_pixhawk_yaw = true;
       pixhawk_yaw = yaw;
     }
-    
   };
 
 }
 
-
 #include <pluginlib/class_list_macros.hpp>
 
 PLUGINLIB_EXPORT_CLASS(px4_interface::PX4Interface, robot_interface::RobotInterface)