diff --git a/.clang-tidy b/.clang-tidy
index fd4a125dda..7ae7ddeba5 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -85,7 +85,6 @@ Checks:          '*,
                   -modernize-use-override,
                   -modernize-use-using,
                   -performance-inefficient-string-concatenation,
-                  -performance-unnecessary-value-param,
                   -readability-avoid-const-params-in-decls,
                   -readability-braces-around-statements,
                   -readability-container-size-empty,
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXY.cpp b/src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXY.cpp
index 0018df50a6..0cdc63b9df 100644
--- a/src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXY.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXY.cpp
@@ -38,7 +38,7 @@
 
 using namespace matrix;
 
-void ManualVelocitySmoothingXY::reset(Vector2f accel, Vector2f vel, Vector2f pos)
+void ManualVelocitySmoothingXY::reset(const Vector2f &accel, const Vector2f &vel, const Vector2f &pos)
 {
 	for (int i = 0; i < 2; i++) {
 		_trajectory[i].reset(accel(i), vel(i), pos(i));
@@ -54,7 +54,7 @@ void ManualVelocitySmoothingXY::resetPositionLock()
 	_position_setpoint_locked(1) = NAN;
 }
 
-void ManualVelocitySmoothingXY::update(float dt, Vector2f velocity_target)
+void ManualVelocitySmoothingXY::update(float dt, const Vector2f &velocity_target)
 {
 	// Update state
 	updateTrajectories(dt);
@@ -79,7 +79,7 @@ void ManualVelocitySmoothingXY::updateTrajectories(float dt)
 	}
 }
 
-void ManualVelocitySmoothingXY::updateTrajDurations(Vector2f velocity_target)
+void ManualVelocitySmoothingXY::updateTrajDurations(const Vector2f &velocity_target)
 {
 	for (int i = 0; i < 2; ++i) {
 		_trajectory[i].updateDurations(velocity_target(i));
@@ -88,7 +88,7 @@ void ManualVelocitySmoothingXY::updateTrajDurations(Vector2f velocity_target)
 	VelocitySmoothing::timeSynchronization(_trajectory, 2);
 }
 
-void ManualVelocitySmoothingXY::checkPositionLock(Vector2f velocity_target)
+void ManualVelocitySmoothingXY::checkPositionLock(const Vector2f &velocity_target)
 {
 	/**
 	 * During a position lock -> position unlock transition, we have to make sure that the velocity setpoint
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXY.hpp b/src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXY.hpp
index 2759b357dd..9ff5c1a397 100644
--- a/src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXY.hpp
+++ b/src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXY.hpp
@@ -50,10 +50,10 @@ public:
 	ManualVelocitySmoothingXY() = default;
 	~ManualVelocitySmoothingXY() = default;
 
-	void reset(Vector2f accel, Vector2f vel, Vector2f pos);
-	void update(float dt, Vector2f velocity_target);
+	void reset(const Vector2f &accel, const Vector2f &vel, const Vector2f &pos);
+	void update(float dt, const Vector2f &velocity_target);
 
-	void setVelSpFeedback(const Vector2f fb) { _velocity_setpoint_feedback = fb; }
+	void setVelSpFeedback(const Vector2f &fb) { _velocity_setpoint_feedback = fb; }
 
 	void setMaxJerk(const float max_jerk)
 	{
@@ -79,7 +79,7 @@ public:
 	Vector2f getCurrentJerk() const { return _state.j; }
 	Vector2f getCurrentAcceleration() const { return _state.a; }
 
-	void setCurrentVelocity(const Vector2f vel)
+	void setCurrentVelocity(const Vector2f &vel)
 	{
 		_state.v = vel;
 		_trajectory[0].setCurrentVelocity(vel(0));
@@ -87,7 +87,7 @@ public:
 	}
 	Vector2f getCurrentVelocity() const { return _state.v; }
 
-	void setCurrentPosition(const Vector2f pos)
+	void setCurrentPosition(const Vector2f &pos)
 	{
 		_state.x = pos;
 		_trajectory[0].setCurrentPosition(pos(0));
@@ -96,13 +96,13 @@ public:
 	}
 	Vector2f getCurrentPosition() const { return _position_setpoint_locked; }
 
-	void setCurrentPositionEstimate(Vector2f pos) { _position_estimate = pos; }
+	void setCurrentPositionEstimate(const Vector2f &pos) { _position_estimate = pos; }
 
 private:
 	void resetPositionLock();
 	void updateTrajectories(float dt);
-	void checkPositionLock(Vector2f velocity_target);
-	void updateTrajDurations(Vector2f velocity_target);
+	void checkPositionLock(const Vector2f &velocity_target);
+	void updateTrajDurations(const Vector2f &velocity_target);
 
 	VelocitySmoothing _trajectory[2]; ///< Trajectory in x and y directions
 
diff --git a/src/modules/mc_att_control/RateControl/RateControl.cpp b/src/modules/mc_att_control/RateControl/RateControl.cpp
index a728c8ec98..0715f82ebb 100644
--- a/src/modules/mc_att_control/RateControl/RateControl.cpp
+++ b/src/modules/mc_att_control/RateControl/RateControl.cpp
@@ -66,7 +66,7 @@ void RateControl::setSaturationStatus(const MultirotorMixer::saturation_status &
 	_mixer_saturation_negative[2] = status.flags.yaw_neg;
 }
 
-Vector3f RateControl::update(const Vector3f rate, const Vector3f rate_sp, const float dt, const bool landed)
+Vector3f RateControl::update(const Vector3f &rate, const Vector3f &rate_sp, const float dt, const bool landed)
 {
 	// angular rates error
 	Vector3f rate_error = rate_sp - rate;
diff --git a/src/modules/mc_att_control/RateControl/RateControl.hpp b/src/modules/mc_att_control/RateControl/RateControl.hpp
index 38f688969a..195951195e 100644
--- a/src/modules/mc_att_control/RateControl/RateControl.hpp
+++ b/src/modules/mc_att_control/RateControl/RateControl.hpp
@@ -93,7 +93,8 @@ public:
 	 * @param dt desired vehicle angular rate setpoint
 	 * @return [-1,1] normalized torque vector to apply to the vehicle
 	 */
-	matrix::Vector3f update(const matrix::Vector3f rate, const matrix::Vector3f rate_sp, const float dt, const bool landed);
+	matrix::Vector3f update(const matrix::Vector3f &rate, const matrix::Vector3f &rate_sp, const float dt,
+				const bool landed);
 
 	/**
 	 * Set the integral term to 0 to prevent windup