diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index bae5c67a8872..c6da74a23518 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -151,8 +151,8 @@ set(msg_files
 	ObstacleDistance.msg
 	OffboardControlMode.msg
 	OnboardComputerStatus.msg
-  OpenDroneIdArmStatus.msg
-  OpenDroneIdBasicId.msg
+	OpenDroneIdArmStatus.msg
+	OpenDroneIdBasicId.msg
 	OpenDroneIdOperatorId.msg
 	OpenDroneIdSelfId.msg
 	OpenDroneIdSystem.msg
diff --git a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
index 72c46ab98b04..b349475593fd 100644
--- a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
@@ -187,3 +187,4 @@ class HealthAndArmingChecks : public ModuleParams
 		&_vtol_checks,
 	};
 };
+
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/openDroneIDCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/openDroneIDCheck.cpp
index 7f6f5803b40b..2c6a87f8cb7f 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/openDroneIDCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/openDroneIDCheck.cpp
@@ -47,15 +47,15 @@ void OpenDroneIDChecks::checkAndReport(const Context &context, Report &reporter)
 
 	NavModes affected_modes{NavModes::None};
 
-		if (_param_com_arm_odid.get() == 2) {
-			// disallow arming without the Open Drone ID system
-			affected_modes = NavModes::All;
-		}
-	
-		if (_open_drone_id_arm_status_sub.copy(&odid_module_arm_status)) {
+	if (_param_com_arm_odid.get() == 2) {
+		// disallow arming without the Open Drone ID system
+		affected_modes = NavModes::All;
+	}
 
-			// Check ODID arm status
-			if (odid_module_arm_status.status == ODID_ARM_FAIL) {
+	if (_open_drone_id_arm_status_sub.copy(&odid_module_arm_status)) {
+
+		// Check ODID arm status
+		if (odid_module_arm_status.status == ODID_ARM_FAIL) {
 			/* EVENT
 			* @description
 			* Open Drone ID system reported being unhealthy.
@@ -75,22 +75,22 @@ void OpenDroneIDChecks::checkAndReport(const Context &context, Report &reporter)
 		}
 
 	} else if (!context.status().open_drone_id_system_present) {
-			/* EVENT
-			* @description
-			* Open Drone ID system failed to report. Make sure it is setup and installed properly.
-			*
-			* <profile name="dev">
-			* This check can be configured via <param>COM_ARM_ODID</param> parameter.
-			* </profile>
-			*/
-			reporter.armingCheckFailure(affected_modes, health_component_t::open_drone_id,
-						    events::ID("check_open_drone_id_missing"),
-						    events::Log::Error, "Open Drone ID system missing");
-
-			if (reporter.mavlink_log_pub()) {
-				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Open Drone ID system missing");
-			}
+		/* EVENT
+		* @description
+		* Open Drone ID system failed to report. Make sure it is setup and installed properly.
+		*
+		* <profile name="dev">
+		* This check can be configured via <param>COM_ARM_ODID</param> parameter.
+		* </profile>
+		*/
+		reporter.armingCheckFailure(affected_modes, health_component_t::open_drone_id,
+					    events::ID("check_open_drone_id_missing"),
+					    events::Log::Error, "Open Drone ID system missing");
 
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Open Drone ID system missing");
 		}
 
+	}
+
 }
diff --git a/src/modules/mavlink/streams/OPEN_DRONE_ID_ARM_STATUS.hpp b/src/modules/mavlink/streams/OPEN_DRONE_ID_ARM_STATUS.hpp
index a7b6a7f95af9..0ec8aeb6e7a8 100644
--- a/src/modules/mavlink/streams/OPEN_DRONE_ID_ARM_STATUS.hpp
+++ b/src/modules/mavlink/streams/OPEN_DRONE_ID_ARM_STATUS.hpp
@@ -79,11 +79,13 @@ class MavlinkStreamOpenDroneIdArmStatus : public MavlinkStream
 			mavlink_open_drone_id_arm_status_t msg{};
 
 			msg.status = drone_id_arm.status;
+
 			for (uint8_t i = 0; i < sizeof(drone_id_arm.error); ++i) {
 
 				msg.error[i] = drone_id_arm.error[i];
 
 			}
+
 			mavlink_msg_open_drone_id_arm_status_send_struct(_mavlink->get_channel(),
 					&msg);