diff --git a/src/algorithms/libs/rtklib/rtklib_rtkcmn.cc b/src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
index dbfbebdfd..8120152fa 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
@@ -1170,7 +1170,11 @@ double str2num(const char *s, int i, int n)
     char str[256], *p = str;
 
     if (i<0 || (int)strlen(s)<i || (int)sizeof(str)-1<n) return 0.0;
-    for (s += i; *s && --n >= 0; s++) *p++=*s == 'd' || *s == 'D' ? 'E' : *s; *p = '\0';
+    for (s += i; *s && --n >= 0; s++)
+        {
+            *p++=*s == 'd' || *s == 'D' ? 'E' : *s;
+        }
+    *p = '\0';
     return sscanf(str, "%lf", &value) == 1 ? value : 0.0;
 }
 
@@ -1188,7 +1192,11 @@ int str2time(const char *s, int i, int n, gtime_t *t)
     char str[256], *p = str;
 
     if (i<0 || (int)strlen(s)<i || (int)sizeof(str)-1<i) return -1;
-    for (s += i; *s && --n >= 0;) *p++=*s++; *p = '\0';
+    for (s += i; *s && --n >= 0;)
+        {
+            *p++=*s++;
+        }
+    *p = '\0';
     if (sscanf(str, "%lf %lf %lf %lf %lf %lf", ep, ep+1, ep+2, ep+3, ep+4, ep+5)<6)
         return -1;
     if (ep[0]<100.0) ep[0] += ep[0]<80.0 ? 2000.0 : 1900.0;
diff --git a/src/algorithms/libs/rtklib/rtklib_rtkpos.cc b/src/algorithms/libs/rtklib/rtklib_rtkpos.cc
index 2ced73641..850fa37ae 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtkpos.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtkpos.cc
@@ -585,7 +585,11 @@ void udpos(rtk_t *rtk, double tt)
             return;
         }
     /* check variance of estimated postion */
-    for (i = 0;i<3;i++) var += rtk->P[i+i*rtk->nx]; var/=3.0;
+    for (i = 0;i<3;i++)
+        {
+            var += rtk->P[i+i*rtk->nx];
+        }
+    var /= 3.0;
 
     if (var>VAR_POS)
         {
@@ -1178,8 +1182,11 @@ int constbl(rtk_t *rtk, const double *x, const double *P, double *v,
     /* approximate variance of solution */
     if (P)
         {
-            for (i = 0;i<3;i++) var+=P[i+i*rtk->nx];
-            var/=3.0;
+            for (i = 0;i<3;i++)
+                {
+                    var += P[i+i*rtk->nx];
+                }
+            var /= 3.0;
         }
     /* check nonlinearity */
     if (var>thres*thres*bb*bb)