diff --git a/dev/mar_test.py b/dev/mar_test.py
index 1564306..4e0142b 100644
--- a/dev/mar_test.py
+++ b/dev/mar_test.py
@@ -12,13 +12,17 @@
 local_pos = messages.LocalPositionNED()
 device.add_listener(local_pos)
 
-request_local_pos = protocols.RequestMessageProtocol(messages.IntervalMessageID.LOCAL_POSITION_NED, rate_hz=50.0)
+request_local_pos = protocols.RequestMessageProtocol(
+    messages.IntervalMessageID.LOCAL_POSITION_NED, rate_hz=50.0
+)
 device.run_protocol(request_local_pos)
 
 imu = messages.RawIMU()
 device.add_listener(imu)
 
-request_imu = protocols.RequestMessageProtocol(messages.IntervalMessageID.RAW_IMU, rate_hz=50.0)
+request_imu = protocols.RequestMessageProtocol(
+    messages.IntervalMessageID.RAW_IMU, rate_hz=50.0
+)
 device.run_protocol(request_imu)
 
 time.sleep(1)
diff --git a/messages/attitude_target_msg.py b/messages/attitude_target_msg.py
index 69bf9c8..12b2534 100644
--- a/messages/attitude_target_msg.py
+++ b/messages/attitude_target_msg.py
@@ -30,7 +30,9 @@ def __init__(
         self.target_system = target_system
         self.target_component = target_component
 
-        self.boot_time_ms = boot_time_ms  # time since system boot in milliseconds (for sync)
+        self.boot_time_ms = (
+            boot_time_ms  # time since system boot in milliseconds (for sync)
+        )
 
         # quaternion (w, x, y, z)
         self.q = np.array(q, dtype=float)
@@ -90,13 +92,13 @@ def set_ignore_body_rates(self, ignore: bool = True):
 
     def set_ignore_attitude(self, ignore: bool = True):
         if ignore:
-            self.type_mask |= (1 << 6)
+            self.type_mask |= 1 << 6
         else:
             self.type_mask &= ~(1 << 6)
 
     def set_ignore_thrust(self, ignore: bool = True):
         if ignore:
-            self.type_mask |= (1 << 7)
+            self.type_mask |= 1 << 7
         else:
             self.type_mask &= ~(1 << 7)
 
diff --git a/messages/raw_imu_msg.py b/messages/raw_imu_msg.py
index 09822d2..bd988dc 100644
--- a/messages/raw_imu_msg.py
+++ b/messages/raw_imu_msg.py
@@ -3,7 +3,6 @@
 
 
 class RawIMU(MAVMessage):
-
     def __init__(self):
         super().__init__("RAW_IMU")
         self.xac = 0.0
diff --git a/protocols/__init__.py b/protocols/__init__.py
index e4610c8..2003976 100644
--- a/protocols/__init__.py
+++ b/protocols/__init__.py
@@ -1,4 +1,6 @@
-from mavcore.protocols.attitude_setpoint_protocol import AttitudeSetpointProtocol as AttitudeSetpointProtocol
+from mavcore.protocols.attitude_setpoint_protocol import (
+    AttitudeSetpointProtocol as AttitudeSetpointProtocol,
+)
 from mavcore.protocols.battery_update_protocol import (
     UpdateBatteryProtocol as UpdateBatteryProtocol,
 )
diff --git a/protocols/attitude_setpoint_protocol.py b/protocols/attitude_setpoint_protocol.py
index 6294a22..9e3d636 100644
--- a/protocols/attitude_setpoint_protocol.py
+++ b/protocols/attitude_setpoint_protocol.py
@@ -7,7 +7,6 @@
 
 
 class AttitudeSetpointProtocol(MAVProtocol):
-
     def __init__(
         self,
         current_pos: LocalPositionNED,
@@ -27,7 +26,11 @@ def __init__(
         self.thrust = 0.1
 
         self.setpoint_msg = SetpointAttitude(
-            self.target_system, self.target_component, self.boot_time_ms, self.q, self.thrust
+            self.target_system,
+            self.target_component,
+            self.boot_time_ms,
+            self.q,
+            self.thrust,
         )
 
     def run(self, sender, receiver):
@@ -38,6 +41,4 @@ def run(self, sender, receiver):
             gs = np.linalg.norm([self.imu.xac, self.imu.yac, self.imu.zac])
             if gs > highest:
                 highest = gs
-            #print(f"highest G: {highest}", flush=True)
-
-        
+            # print(f"highest G: {highest}", flush=True)
diff --git a/protocols/request_msg_protocol.py b/protocols/request_msg_protocol.py
index c3861df..b30443d 100644
--- a/protocols/request_msg_protocol.py
+++ b/protocols/request_msg_protocol.py
@@ -15,7 +15,7 @@ def __init__(
         target_system: int = 1,
         target_component: int = 0,
         rate_hz: float = 4.0,
-        wait_for_ack: bool = True
+        wait_for_ack: bool = True,
     ):
         super().__init__()
         self.msg_id = msg_id