diff --git a/libmavconn/include/mavconn/interface.hpp b/libmavconn/include/mavconn/interface.hpp
index 8b71120fc..d6024305a 100644
--- a/libmavconn/include/mavconn/interface.hpp
+++ b/libmavconn/include/mavconn/interface.hpp
@@ -23,8 +23,6 @@
 #ifndef MAVCONN__INTERFACE_HPP_
 #define MAVCONN__INTERFACE_HPP_
 
-#include <mavconn/mavlink_dialect.hpp>
-
 #include <atomic>
 #include <cassert>
 #include <chrono>
@@ -40,6 +38,8 @@
 #include <unordered_map>
 #include <vector>
 
+#include <mavconn/mavlink_dialect.hpp>
+
 namespace mavconn
 {
 using steady_clock = std::chrono::steady_clock;
diff --git a/libmavconn/include/mavconn/msgbuffer.hpp b/libmavconn/include/mavconn/msgbuffer.hpp
index 4f5143bd0..e54c12645 100644
--- a/libmavconn/include/mavconn/msgbuffer.hpp
+++ b/libmavconn/include/mavconn/msgbuffer.hpp
@@ -19,9 +19,10 @@
 #ifndef MAVCONN__MSGBUFFER_HPP_
 #define MAVCONN__MSGBUFFER_HPP_
 
-#include <mavconn/mavlink_dialect.hpp>
 #include <cassert>
 
+#include <mavconn/mavlink_dialect.hpp>
+
 namespace mavconn
 {
 
diff --git a/libmavconn/include/mavconn/serial.hpp b/libmavconn/include/mavconn/serial.hpp
index cf2ac1669..3fc232db7 100644
--- a/libmavconn/include/mavconn/serial.hpp
+++ b/libmavconn/include/mavconn/serial.hpp
@@ -19,14 +19,14 @@
 #ifndef MAVCONN__SERIAL_HPP_
 #define MAVCONN__SERIAL_HPP_
 
-#include <mavconn/interface.hpp>
-#include <mavconn/msgbuffer.hpp>
-
-#include <asio.hpp>
 #include <atomic>
 #include <deque>
 #include <string>
 
+#include <asio.hpp>
+#include <mavconn/interface.hpp>
+#include <mavconn/msgbuffer.hpp>
+
 namespace mavconn
 {
 
diff --git a/libmavconn/include/mavconn/tcp.hpp b/libmavconn/include/mavconn/tcp.hpp
index 698874fbe..ba0064191 100644
--- a/libmavconn/include/mavconn/tcp.hpp
+++ b/libmavconn/include/mavconn/tcp.hpp
@@ -19,10 +19,6 @@
 #ifndef MAVCONN__TCP_HPP_
 #define MAVCONN__TCP_HPP_
 
-#include <mavconn/interface.hpp>
-#include <mavconn/msgbuffer.hpp>
-
-#include <asio.hpp>
 #include <atomic>
 #include <cstring>
 #include <deque>
@@ -30,6 +26,10 @@
 #include <memory>
 #include <string>
 
+#include <asio.hpp>
+#include <mavconn/interface.hpp>
+#include <mavconn/msgbuffer.hpp>
+
 namespace mavconn
 {
 
diff --git a/libmavconn/include/mavconn/udp.hpp b/libmavconn/include/mavconn/udp.hpp
index e0e23ce53..66266404c 100644
--- a/libmavconn/include/mavconn/udp.hpp
+++ b/libmavconn/include/mavconn/udp.hpp
@@ -19,15 +19,15 @@
 #ifndef MAVCONN__UDP_HPP_
 #define MAVCONN__UDP_HPP_
 
-#include <mavconn/interface.hpp>
-#include <mavconn/msgbuffer.hpp>
-
-#include <asio.hpp>
 #include <atomic>
 #include <deque>
 #include <memory>
 #include <string>
 
+#include <asio.hpp>
+#include <mavconn/interface.hpp>
+#include <mavconn/msgbuffer.hpp>
+
 namespace mavconn
 {
 
diff --git a/libmavconn/src/interface.cpp b/libmavconn/src/interface.cpp
index 6d784303d..38a12bb67 100644
--- a/libmavconn/src/interface.cpp
+++ b/libmavconn/src/interface.cpp
@@ -15,19 +15,19 @@
  * @{
  */
 
-#include <mavconn/console_bridge_compat.hpp>
-#include <mavconn/interface.hpp>
-#include <mavconn/msgbuffer.hpp>
-#include <mavconn/serial.hpp>
-#include <mavconn/tcp.hpp>
-#include <mavconn/udp.hpp>
-
 #include <cassert>
 #include <memory>
 #include <set>
 #include <string>
 #include <unordered_map>
 
+#include "mavconn/console_bridge_compat.hpp"
+#include "mavconn/interface.hpp"
+#include "mavconn/msgbuffer.hpp"
+#include "mavconn/serial.hpp"
+#include "mavconn/tcp.hpp"
+#include "mavconn/udp.hpp"
+
 namespace mavconn
 {
 #define PFX "mavconn: "
diff --git a/libmavconn/src/serial.cpp b/libmavconn/src/serial.cpp
index 351f0c7d7..690bebde5 100644
--- a/libmavconn/src/serial.cpp
+++ b/libmavconn/src/serial.cpp
@@ -19,13 +19,13 @@
 #include <linux/serial.h>
 #endif
 
-#include <mavconn/console_bridge_compat.hpp>
-#include <mavconn/serial.hpp>
-#include <mavconn/thread_utils.hpp>
-
 #include <cassert>
 #include <string>
 
+#include "mavconn/console_bridge_compat.hpp"
+#include "mavconn/serial.hpp"
+#include "mavconn/thread_utils.hpp"
+
 namespace mavconn
 {
 
diff --git a/libmavconn/src/tcp.cpp b/libmavconn/src/tcp.cpp
index 60d633456..6dcb1fa01 100644
--- a/libmavconn/src/tcp.cpp
+++ b/libmavconn/src/tcp.cpp
@@ -15,15 +15,15 @@
  * @{
  */
 
-#include <mavconn/console_bridge_compat.hpp>
-#include <mavconn/tcp.hpp>
-#include <mavconn/thread_utils.hpp>
-
 #include <cassert>
 #include <memory>
 #include <string>
 #include <unordered_map>
 
+#include "mavconn/console_bridge_compat.hpp"
+#include "mavconn/tcp.hpp"
+#include "mavconn/thread_utils.hpp"
+
 // Ensure the correct io_service() is called based on asio version
 #if ASIO_VERSION >= 101400
 #define GET_IO_SERVICE(s) ((asio::io_context &)(s).get_executor().context())
diff --git a/libmavconn/src/udp.cpp b/libmavconn/src/udp.cpp
index 165678991..2d513a3bd 100644
--- a/libmavconn/src/udp.cpp
+++ b/libmavconn/src/udp.cpp
@@ -15,13 +15,13 @@
  * @{
  */
 
-#include <mavconn/console_bridge_compat.hpp>
-#include <mavconn/thread_utils.hpp>
-#include <mavconn/udp.hpp>
-
 #include <cassert>
 #include <string>
 
+#include "mavconn/console_bridge_compat.hpp"
+#include "mavconn/thread_utils.hpp"
+#include "mavconn/udp.hpp"
+
 namespace mavconn
 {
 
diff --git a/libmavconn/test/test_mavconn.cpp b/libmavconn/test/test_mavconn.cpp
index 98728e9f8..f3afb492a 100644
--- a/libmavconn/test/test_mavconn.cpp
+++ b/libmavconn/test/test_mavconn.cpp
@@ -11,11 +11,6 @@
  * Test mavconn library
  */
 
-#include <mavconn/interface.hpp>
-#include <mavconn/serial.hpp>
-#include <mavconn/tcp.hpp>
-#include <mavconn/udp.hpp>
-
 // Gmock broken on Ubuntu (thrusty),
 //  its gmock 1.6 require gtest 1.7, while repository only provides 1.6
 //  this error exist one year without any updates.
@@ -30,6 +25,11 @@
 #include <limits>
 #include <memory>
 
+#include "mavconn/interface.hpp"
+#include "mavconn/serial.hpp"
+#include "mavconn/tcp.hpp"
+#include "mavconn/udp.hpp"
+
 using namespace mavconn; // NOLINT
 using mavlink_message_t = mavlink::mavlink_message_t;
 using msgid_t = mavlink::msgid_t;
diff --git a/mavros/src/lib/ftf_frame_conversions.cpp b/mavros/src/lib/ftf_frame_conversions.cpp
index 3f689403c..cf739677f 100644
--- a/mavros/src/lib/ftf_frame_conversions.cpp
+++ b/mavros/src/lib/ftf_frame_conversions.cpp
@@ -16,8 +16,8 @@
  * @{
  */
 
-#include <mavros/frame_tf.hpp>
 #include <stdexcept>
+#include <mavros/frame_tf.hpp>
 
 namespace mavros
 {
diff --git a/mavros/src/plugins/command.cpp b/mavros/src/plugins/command.cpp
index ffe09f51d..e93765de6 100644
--- a/mavros/src/plugins/command.cpp
+++ b/mavros/src/plugins/command.cpp
@@ -489,7 +489,7 @@ class CommandPlugin : public plugin::Plugin
     send_command_long_and_wait(
       false,
       enum_value(MAV_CMD::NAV_LAND_LOCAL), 1,
-      0, //landing target number (what does it means?)
+      0,  // landing target number (what does it means?)
       req->offset,
       req->rate,
       req->yaw,
diff --git a/mavros/src/plugins/sys_status.cpp b/mavros/src/plugins/sys_status.cpp
index e2d46a692..b0879d2b5 100644
--- a/mavros/src/plugins/sys_status.cpp
+++ b/mavros/src/plugins/sys_status.cpp
@@ -1108,7 +1108,7 @@ class SystemStatusPlugin : public plugin::Plugin
       has_battery_status0 = true;
     }
 
-    if (!disable_diag && bs.id >= 0 && bs.id < MAX_NR_BATTERY_STATUS) {
+    if (!disable_diag && bs.id < MAX_NR_BATTERY_STATUS) {
       batt_diag[bs.id].set(total_voltage, batt_msg.current, batt_msg.percentage);
       batt_diag[bs.id].setcell_v(batt_msg.cell_voltage);
     }
diff --git a/mavros/test/test_quaternion_utils.cpp b/mavros/test/test_quaternion_utils.cpp
index e5bb622b7..0430a51b5 100644
--- a/mavros/test/test_quaternion_utils.cpp
+++ b/mavros/test/test_quaternion_utils.cpp
@@ -12,11 +12,11 @@
  */
 
 #include <gtest/gtest.h>
+#include <tf2/LinearMath/Quaternion.h>
+#include <tf2/LinearMath/Matrix3x3.h>
 
 #include <rclcpp/rclcpp.hpp>
 #include <mavros/frame_tf.hpp>
-#include <tf2/LinearMath/Quaternion.hpp>
-#include <tf2/LinearMath/Matrix3x3.hpp>
 
 using namespace mavros;     // NOLINT