diff --git a/Makefile b/Makefile
index 911f57d942..437864293a 100644
--- a/Makefile
+++ b/Makefile
@@ -227,7 +227,7 @@ check: check_px4fmu-v1_default check_px4fmu-v2_default check_px4fmu-v2_ekf2 chec
 check_format:
 	$(call colorecho,"Checking formatting with astyle")
 	@./Tools/fix_code_style.sh
-	@./Tools/check_code_style.sh
+	@./Tools/check_code_style_all.sh
 
 check_%:
 	@echo
diff --git a/Tools/check_code_style.sh b/Tools/check_code_style.sh
index 2f12ce5bc7..40614dd92e 100755
--- a/Tools/check_code_style.sh
+++ b/Tools/check_code_style.sh
@@ -1,70 +1,17 @@
 #!/usr/bin/env bash
-set -eu
-failed=0
-for fn in $(find src/examples \
-                 src/systemcmds \
-                 src/include \
-                 src/drivers \
-                 src/platforms \
-                 src/firmware \
-                 src/lib/launchdetection \
-                 src/lib/geo \
-                 src/lib/geo_lookup \
-                 src/lib/conversion \
-                 src/lib/rc \
-                 src/lib/version \
-                 src/modules/attitude_estimator_q \
-                 src/modules/fw_att_control \
-                 src/modules/gpio_led \
-                 src/modules/land_detector \
-                 src/modules/muorb \
-                 src/modules/px4iofirmware \
-                 src/modules/param \
-                 src/modules/sensors \
-                 src/modules/simulator \
-                 src/modules/uORB \
-                 src/modules/bottle_drop \
-                 src/modules/dataman \
-                 src/modules/segway \
-                 src/modules/local_position_estimator \
-                 src/modules/unit_test \
-                 src/modules/systemlib \
-                 src/lib/controllib \
-                   -path './Build' -prune -o \
-                   -path './mavlink' -prune -o \
-                   -path './NuttX' -prune -o \
-                   -path './src/lib/eigen' -prune -o \
-                   -path './src/modules/uavcan/libuavcan' -prune -o \
-                   -path './src/modules/attitude_estimator_ekf/codegen' -prune -o \
-                   -path './src/modules/ekf_att_pos_estimator' -prune -o \
-                   -path './src/modules/sdlog2' -prune -o \
-                   -path './src/modules/uORB' -prune -o \
-                   -path './src/modules/vtol_att_control' -prune -o \
-                   -path './unittests/build' -prune -o \
-                   -path './unittests/gtest' -prune -o \
-                   -name '*.c' -o -name '*.cpp' -o -name '*.hpp' -o -name '*.h' \
-                   -not -name '*generated*' \
-                   -not -name '*uthash.h' \
-                   -not -name '*utstring.h' \
-                   -not -name '*utlist.h' \
-                   -not -name '*utarray.h' \
-                   -type f); do
-  if [ -f "$fn" ];
-  then
-    ./Tools/fix_code_style.sh --quiet < $fn > $fn.pretty
-    diffsize=$(diff -y --suppress-common-lines $fn $fn.pretty | wc -l)
-    rm -f $fn.pretty
-    if [ $diffsize -ne 0 ]; then
-      failed=1
-      echo $fn 'bad formatting, please run "./Tools/fix_code_style.sh' $fn'"'
-    fi
-  fi
-done
 
-if [ $failed -eq 0 ]; then
-    echo "Format checks passed"
-    exit 0
-else
-    echo "Format checks failed"
+file=$1
+
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+if [ -f "$file" ];
+then
+  ${DIR}/fix_code_style.sh --quiet < $file > $file.pretty
+  diffsize=$(diff -y --suppress-common-lines $file $file.pretty | wc -l)
+  rm -f $file.pretty
+  if [ $diffsize -ne 0 ]; then
+    echo $file 'bad formatting, please run "./Tools/fix_code_style.sh' $file'"'
     exit 1
+  fi
 fi
+
diff --git a/Tools/check_code_style_all.sh b/Tools/check_code_style_all.sh
new file mode 100755
index 0000000000..20124e00a2
--- /dev/null
+++ b/Tools/check_code_style_all.sh
@@ -0,0 +1,52 @@
+#!/usr/bin/env bash
+set -eu
+failed=0
+
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+find \
+    src/drivers \
+    src/examples \
+    src/firmware \
+    src/include \
+    src/lib/controllib \
+    src/lib/conversion \
+    src/lib/geo \
+    src/lib/geo_lookup \
+    src/lib/launchdetection \
+    src/lib/rc \
+    src/lib/tailsitter_recovery \
+    src/lib/terrain_estimation \
+    src/lib/version \
+    src/modules/attitude_estimator_q \
+    src/modules/bottle_drop \
+    src/modules/controllib_test \
+    src/modules/dataman \
+    src/modules/fw_att_control \
+    src/modules/gpio_led \
+    src/modules/land_detector \
+    src/modules/local_position_estimator \
+    src/modules/muorb \
+    src/modules/param \
+    src/modules/px4iofirmware \
+    src/modules/segway \
+    src/modules/sensors \
+    src/modules/simulator \
+    src/modules/systemlib \
+    src/modules/unit_test \
+    src/modules/uORB \
+    src/platforms \
+    src/systemcmds \
+    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) \
+    -not -name '*generated.h' \
+    -not -name '*uthash.h' \
+    -not -name '*utstring.h' \
+    -not -name '*utlist.h' \
+    -not -name '*utarray.h' \
+    -print0 | xargs -0 -n 1 -P 8 -I % ${DIR}/check_code_style.sh %
+
+
+if [ $? -eq 0 ]; then
+    echo "Format checks passed"
+    exit 0
+fi