diff --git a/apps/ardrone_interface/ardrone_interface.c b/apps/ardrone_interface/ardrone_interface.c
index 8b4b5c400f..8ed6db6642 100644
--- a/apps/ardrone_interface/ardrone_interface.c
+++ b/apps/ardrone_interface/ardrone_interface.c
@@ -141,7 +141,6 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin
 	int uart;
 
 	/* open uart */
-	//printf("[ardrone_interface] UART is %s, baud rate is%d\n",uart_name,speed);
 	uart = open(uart_name, O_RDWR | O_NOCTTY);
 
 	/* Try to set baud rate */
@@ -238,15 +237,14 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 
 	/* declare and safely initialize all structs */
 	struct vehicle_status_s state;
-	//memset(&state, 0, sizeof(state));
+	memset(&state, 0, sizeof(state));
 	struct actuator_controls_s actuator_controls;
-	//memset(&actuator_controls, 0, sizeof(actuator_controls));
+	memset(&actuator_controls, 0, sizeof(actuator_controls));
 	struct actuator_armed_s armed;
 	armed.armed = false;
 
 	/* subscribe to attitude, motor setpoints and system state */
 	int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
-
 	int state_sub = orb_subscribe(ORB_ID(vehicle_status));
 	int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
 
@@ -328,11 +326,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 			 * if in failsafe
 			 */
 			if (armed.armed && !armed.lockdown) {
-
-
-
-				//printf("AMO_BEF: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",actuator_controls.control[0], actuator_controls.control[1], actuator_controls.control[2], actuator_controls.control[3]);
-
 				ardrone_mixing_and_output(ardrone_write, &actuator_controls);
 
 			} else {
diff --git a/apps/ardrone_interface/ardrone_motor_control.c b/apps/ardrone_interface/ardrone_motor_control.c
index e410d3a71a..c68a26df96 100644
--- a/apps/ardrone_interface/ardrone_motor_control.c
+++ b/apps/ardrone_interface/ardrone_motor_control.c
@@ -388,16 +388,12 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
 	if (motor_thrust <= min_thrust) {
 		motor_thrust = min_thrust;
 		output_band = 0.0f;
-		//printf("0 silent\n");
 	} else if (motor_thrust < startpoint_full_control && motor_thrust > min_thrust) {
 		output_band = band_factor * (motor_thrust - min_thrust);
-		//printf("1 starting\n");
 	} else if (motor_thrust >= startpoint_full_control && motor_thrust < max_thrust - band_factor * startpoint_full_control) {
 		output_band = band_factor * startpoint_full_control;
-		//printf("2 working\n");
 	} else if (motor_thrust >= max_thrust - band_factor * startpoint_full_control) {
 		output_band = band_factor * (max_thrust - motor_thrust);
-		//printf("3 full\n");
 	}
 
 	//add the yaw, nick and roll components to the basic thrust //TODO:this should be done by the mixer
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index a1c2a15d26..1c23c1f9d2 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -404,10 +404,6 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 
 	/* announce and set new offset */
 
-	// char offset_output[50];
-	// sprintf(offset_output, "[commander] mag cal: %8.4f %8.4f %8.4f", (double)mag_offset[0], (double)mag_offset[1], (double)mag_offset[2]);
-	// mavlink_log_info(mavlink_fd, offset_output);
-
 	if (param_set(param_find("SENS_MAG_XOFF"), &(mag_offset[0]))) {
 		fprintf(stderr, "[commander] Setting X mag offset failed!\n");
 	}
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index b00b6bc0ca..ebd9911a36 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -236,7 +236,6 @@ mc_thread_main(int argc, char *argv[])
 			/* set yaw rate */
 			rates_sp.yaw = manual.yaw;
 			att_sp.thrust = manual.throttle;
-			//printf("Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",att_sp.roll_body, att_sp.pitch_body, att_sp.yaw_body, att_sp.thrust);
 			att_sp.timestamp = hrt_absolute_time();
 			/* STEP 2: publish the result to the vehicle actuators */
 			orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
@@ -278,15 +277,10 @@ mc_thread_main(int argc, char *argv[])
 		/* run attitude controller */
 		if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
 			multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
-//			printf("publish actuator\n");
-
-//			printf("MAC_PUB: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",actuators.control[0], actuators.control[1], actuators.control[2], actuators.control[3]);
-
 			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 		} else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
 			multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
 			orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
-//			printf("publish attitude\n");
 		}
 
 
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index c25e96856a..2129915d12 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -312,10 +312,6 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		actuators->control[3] = motor_thrust;
 	}
 
-//	if(motor_skip_counter%20 == 0)
-//		printf("MAC: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",actuators->control[0], actuators->control[1], actuators->control[2], actuators->control[3]);
-
-
 	// XXX change yaw rate to yaw pos controller
 	if (rates_sp) {
 		rates_sp->roll = roll_control;
@@ -324,8 +320,5 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		rates_sp->thrust = motor_thrust;
 	}
 
-//	if(motor_skip_counter%20 == 0)
-//		printf("Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",rates_sp->roll, rates_sp->pitch, rates_sp->yaw, rates_sp->thrust);
-
 	motor_skip_counter++;
 }
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index ceb8c4b104..f81dfa9b8f 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -1030,7 +1030,6 @@ Sensors::ppm_poll()
 	orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
 	orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control);
 
-//	printf("SENSORS: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",manual_control.roll, manual_control.pitch, manual_control.yaw, manual_control.throttle);
 }
 #endif