diff --git a/services/sensorservice/Fusion.cpp b/services/sensorservice/Fusion.cpp
index e6ca2ccff..0ab86c3e7 100644
--- a/services/sensorservice/Fusion.cpp
+++ b/services/sensorservice/Fusion.cpp
@@ -50,33 +50,38 @@ static const float magSTDEV  = 0.5f;    // uT    (measured 0.7  / CDD 0.5)
 static const float SYMMETRY_TOLERANCE = 1e-10f;
 
 /*
- * Accelerometer updates will not be performed near free fall to avoid ill-conditioning and
- * div by zeros.
+ * Accelerometer updates will not be performed near free fall to avoid
+ * ill-conditioning and div by zeros.
  * Threshhold: 10% of g, in m/s^2
  */
 static const float FREE_FALL_THRESHOLD = 0.981f;
-static const float FREE_FALL_THRESHOLD_SQ = FREE_FALL_THRESHOLD*FREE_FALL_THRESHOLD;
+static const float FREE_FALL_THRESHOLD_SQ =
+        FREE_FALL_THRESHOLD*FREE_FALL_THRESHOLD;
 
 /*
  * The geomagnetic-field should be between 30uT and 60uT.
- * Fields strengths greater than this likely indicate a local magnetic disturbance which
- * we do not want to update into the fused frame.
+ * Fields strengths greater than this likely indicate a local magnetic
+ * disturbance which we do not want to update into the fused frame.
  */
 static const float MAX_VALID_MAGNETIC_FIELD = 100; // uT
-static const float MAX_VALID_MAGNETIC_FIELD_SQ = MAX_VALID_MAGNETIC_FIELD*MAX_VALID_MAGNETIC_FIELD;
+static const float MAX_VALID_MAGNETIC_FIELD_SQ =
+        MAX_VALID_MAGNETIC_FIELD*MAX_VALID_MAGNETIC_FIELD;
 
 /*
- * Values of the field smaller than this should be ignored in fusion to avoid ill-conditioning.
- * This state can happen with anomalous local magnetic disturbances canceling the Earth field.
+ * Values of the field smaller than this should be ignored in fusion to avoid
+ * ill-conditioning. This state can happen with anomalous local magnetic
+ * disturbances canceling the Earth field.
  */
 static const float MIN_VALID_MAGNETIC_FIELD = 10; // uT
-static const float MIN_VALID_MAGNETIC_FIELD_SQ = MIN_VALID_MAGNETIC_FIELD*MIN_VALID_MAGNETIC_FIELD;
+static const float MIN_VALID_MAGNETIC_FIELD_SQ =
+        MIN_VALID_MAGNETIC_FIELD*MIN_VALID_MAGNETIC_FIELD;
 
 /*
- * If the cross product of two vectors has magnitude squared less than this, we reject it as
- * invalid due to alignment of the vectors.
- * This threshold is used to check for the case where the magnetic field sample is parallel to
- * the gravity field, which can happen in certain places due to magnetic field disturbances.
+ * If the cross product of two vectors has magnitude squared less than this,
+ * we reject it as invalid due to alignment of the vectors.
+ * This threshold is used to check for the case where the magnetic field sample
+ * is parallel to the gravity field, which can happen in certain places due
+ * to magnetic field disturbances.
  */
 static const float MIN_VALID_CROSS_PRODUCT_MAG = 1.0e-3;
 static const float MIN_VALID_CROSS_PRODUCT_MAG_SQ =
@@ -273,7 +278,6 @@ void Fusion::handleGyro(const vec3_t& w, float dT) {
 status_t Fusion::handleAcc(const vec3_t& a) {
     // ignore acceleration data if we're close to free-fall
     if (length_squared(a) < FREE_FALL_THRESHOLD_SQ) {
-        LOGW("handleAcc: near free fall, not updating!");
         return BAD_VALUE;
     }
 
@@ -290,29 +294,31 @@ status_t Fusion::handleMag(const vec3_t& m) {
     // reject if too large to avoid spurious magnetic sources
     const float magFieldSq = length_squared(m);
     if (magFieldSq > MAX_VALID_MAGNETIC_FIELD_SQ) {
-        LOGW("handleMag: magnetic field too large, not updating!");
         return BAD_VALUE;
     } else if (magFieldSq < MIN_VALID_MAGNETIC_FIELD_SQ) {
-        // Also reject if too small since we will get ill-defined (zero mag) cross-products below
-        LOGW("handleMag: magnetic field too small, not updating!");
+        // Also reject if too small since we will get ill-defined (zero mag)
+        // cross-products below
         return BAD_VALUE;
     }
 
     if (!checkInitComplete(MAG, m))
         return BAD_VALUE;
 
-    // Orthogonalize the magnetic field to the gravity field, mapping it into tangent to Earth.
+    // Orthogonalize the magnetic field to the gravity field, mapping it into
+    // tangent to Earth.
     const vec3_t up( getRotationMatrix() * Ba );
     const vec3_t east( cross_product(m, up) );
 
-    // If the m and up vectors align, the cross product magnitude will approach 0.
-    // Reject this case as well to avoid div by zero problems and ill-conditioning below.
+    // If the m and up vectors align, the cross product magnitude will
+    // approach 0.
+    // Reject this case as well to avoid div by zero problems and
+    // ill-conditioning below.
     if (length_squared(east) < MIN_VALID_CROSS_PRODUCT_MAG_SQ) {
-        LOGW("handleMag: magnetic field too aligned with up vector, not updating!");
         return BAD_VALUE;
     }
 
-    // If we have created an orthogonal magnetic field successfully, then pass it in as the update.
+    // If we have created an orthogonal magnetic field successfully,
+    // then pass it in as the update.
     vec3_t north( cross_product(up, east) );
 
     const float l = 1 / length(north);