diff --git a/lib/main/STM32_USB_Device_Library/Core/src/usbd_core.c b/lib/main/STM32_USB_Device_Library/Core/src/usbd_core.c
index 978d7bd3bd..0613f5018a 100644
--- a/lib/main/STM32_USB_Device_Library/Core/src/usbd_core.c
+++ b/lib/main/STM32_USB_Device_Library/Core/src/usbd_core.c
@@ -98,19 +98,22 @@ __IO USB_OTG_DCTL_TypeDef SET_TEST_MODE;
 
 USBD_DCD_INT_cb_TypeDef USBD_DCD_INT_cb = 
 {
-  USBD_DataOutStage,
-  USBD_DataInStage,
-  USBD_SetupStage,
-  USBD_SOF,
-  USBD_Reset,
-  USBD_Suspend,
-  USBD_Resume,
-  USBD_IsoINIncomplete,
-  USBD_IsoOUTIncomplete,
+    USBD_DataOutStage,
+    USBD_DataInStage,
+    USBD_SetupStage,
+    USBD_SOF,
+    USBD_Reset,
+    USBD_Suspend,
+    USBD_Resume,
+    USBD_IsoINIncomplete,
+    USBD_IsoOUTIncomplete,
 #ifdef VBUS_SENSING_ENABLED
-  USBD_DevConnected, 
-  USBD_DevDisconnected,    
-#endif  
+    USBD_DevConnected, 
+    USBD_DevDisconnected,  
+#else
+    NULL,
+    NULL,
+#endif
 };
 
 USBD_DCD_INT_cb_TypeDef  *USBD_DCD_INT_fops = &USBD_DCD_INT_cb;
diff --git a/lib/main/STM32_USB_OTG_Driver/inc/usb_dcd_int.h b/lib/main/STM32_USB_OTG_Driver/inc/usb_dcd_int.h
index e5f22bfa09..cd942e2b21 100644
--- a/lib/main/STM32_USB_OTG_Driver/inc/usb_dcd_int.h
+++ b/lib/main/STM32_USB_OTG_Driver/inc/usb_dcd_int.h
@@ -63,7 +63,7 @@ typedef struct _USBD_DCD_INT
   uint8_t (* DevConnected) (USB_OTG_CORE_HANDLE *pdev);
   uint8_t (* DevDisconnected) (USB_OTG_CORE_HANDLE *pdev);   
   
-}USBD_DCD_INT_cb_TypeDef;
+} USBD_DCD_INT_cb_TypeDef;
 
 extern USBD_DCD_INT_cb_TypeDef *USBD_DCD_INT_fops;
 /**
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 6d6db11a9d..d7d56736dd 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -72,11 +72,13 @@ static void pidInteger(const pidProfile_t *pidProfile, uint16_t max_angle_inclin
 
 pidControllerFuncPtr pid_controller = pidInteger; // which pid controller are we using
 
-void setTargetPidLooptime(uint8_t pidProcessDenom) {
-	targetPidLooptime = targetLooptime * pidProcessDenom;
+void setTargetPidLooptime(uint8_t pidProcessDenom) 
+{
+    targetPidLooptime = targetLooptime * pidProcessDenom;
 }
 
-uint16_t getDynamicKi(int axis, const pidProfile_t *pidProfile, int32_t angleRate) {
+uint16_t getDynamicKi(int axis, const pidProfile_t *pidProfile, int32_t angleRate) 
+{
     uint16_t dynamicKi;
     uint16_t resetRate;
 
@@ -101,7 +103,8 @@ void pidResetErrorGyroState(void)
     }
 }
 
-float getdT (void) {
+float getdT (void)
+{
     static float dT;
     if (!dT) dT = (float)targetPidLooptime * 0.000001f;
 
@@ -117,7 +120,7 @@ static filterStatePt1_t yawFilterState;
 static void pidFloat(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
          const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
 {
-    float RateError, gyroRate, RateErrorSmooth;
+    float RateError = 0, gyroRate = 0, RateErrorSmooth = 0;
     float ITerm,PTerm,DTerm;
     static float lastRateError[2];
     float delta;
@@ -257,7 +260,7 @@ static void pidInteger(const pidProfile_t *pidProfile, uint16_t max_angle_inclin
     int axis;
     int32_t PTerm, ITerm, DTerm, delta;
     static int32_t lastRateError[3];
-    int32_t AngleRateTmp, AngleRateTmpSmooth, RateError, gyroRate, RateErrorSmooth;
+    int32_t AngleRateTmp = 0, AngleRateTmpSmooth = 0, RateError = 0, gyroRate = 0, RateErrorSmooth = 0;
 
     int8_t horizonLevelStrength = 100;
 
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 62bd11dcae..4e31f76cef 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -148,13 +148,13 @@ void setGyroSamplingSpeed(uint16_t looptime) {
             gyroSampleRate = 125;
             maxDivider = 8;
             masterConfig.pid_process_denom = 1;
-            if (currentProfile->pidProfile.pidController == PID_CONTROLLER_LUX_FLOAT) {
+            if (currentProfile->pidProfile.pidController == PID_CONTROLLER_FLOAT) {
                 masterConfig.pid_process_denom = 2;
             }
             if (looptime < 250) {
                 masterConfig.pid_process_denom = 4;
             } else if (looptime < 375) {
-                if (currentProfile->pidProfile.pidController == PID_CONTROLLER_LUX_FLOAT) {
+                if (currentProfile->pidProfile.pidController == PID_CONTROLLER_FLOAT) {
                     masterConfig.pid_process_denom = 3;
                 } else {
                     masterConfig.pid_process_denom = 2;