diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index c58654b2d2..65140282ee 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -64,7 +64,7 @@ repos:
         - --linelength=240
         # https://google.github.io/styleguide/cppguide.html
         # relevant rules are whitelisted, see all options with: cpplint --filter=
-        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/forward_decl,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body
+        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/forward_decl,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+readability/braces
 -   repo: local
     hooks:
     -   id: test_translations
diff --git a/common/swaglog.h b/common/swaglog.h
index 5a3434d624..06d45b1d98 100644
--- a/common/swaglog.h
+++ b/common/swaglog.h
@@ -44,7 +44,7 @@ void cloudlog_te(int levelnum, const char* filename, int lineno, const char* fun
   int __millis = (millis);                          \
   uint64_t __ts = nanos_since_boot();               \
                                                     \
-  if (!__begin) __begin = __ts;                     \
+  if (!__begin) { __begin = __ts; }                 \
                                                     \
   if (__begin + __millis*1000000ULL < __ts) {       \
     if (__missed) {                                 \
diff --git a/common/util.h b/common/util.h
index aaa54d52a2..23c37f153a 100644
--- a/common/util.h
+++ b/common/util.h
@@ -115,7 +115,7 @@ public:
 #ifndef __APPLE__
     std::signal(SIGPWR, (sighandler_t)set_do_exit);
 #endif
-  };
+  }
   inline static std::atomic<bool> power_failure = false;
   inline static std::atomic<int> signal = 0;
   inline operator bool() { return do_exit; }
diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h
index c102642e59..e61d25402f 100644
--- a/selfdrive/boardd/panda_comms.h
+++ b/selfdrive/boardd/panda_comms.h
@@ -20,8 +20,8 @@
 // comms base class
 class PandaCommsHandle {
 public:
-  PandaCommsHandle(std::string serial) {};
-  virtual ~PandaCommsHandle() {};
+  PandaCommsHandle(std::string serial) {}
+  virtual ~PandaCommsHandle() {}
   virtual void cleanup() = 0;
 
   std::string hw_serial;
diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc
index 1732e902d5..d11e955c49 100644
--- a/selfdrive/boardd/spi.cc
+++ b/selfdrive/boardd/spi.cc
@@ -43,7 +43,7 @@ public:
   LockEx(int fd, std::recursive_mutex &m) : fd(fd), m(m) {
     m.lock();
     flock(fd, LOCK_EX);
-  };
+  }
 
   ~LockEx() {
     flock(fd, LOCK_UN);
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 68f16a572e..37fbb6b260 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -240,8 +240,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
     LOGE("Sensor reading ignored, sensor timestamp more than 100ms off from log time");
     this->observation_timings_invalid = true;
     return;
-  }
-  else if (!this->is_timestamp_valid(sensor_time)) {
+  } else if (!this->is_timestamp_valid(sensor_time)) {
     this->observation_timings_invalid = true;
     return;
   }
@@ -258,8 +257,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
     if (meas.norm() < ROTATION_SANITY_CHECK) {
       this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas });
       this->observation_values_invalid["gyroscope"] *= DECAY;
-    }
-    else{
+    } else {
       this->observation_values_invalid["gyroscope"] += 1.0;
     }
   }
@@ -277,8 +275,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
     if (meas.norm() < ACCEL_SANITY_CHECK) {
       this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_ACCEL, { meas });
       this->observation_values_invalid["accelerometer"] *= DECAY;
-    }
-    else{
+    } else {
       this->observation_values_invalid["accelerometer"] += 1.0;
     }
   }
@@ -414,8 +411,7 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements:
   orientation_reset &= !this->standstill;
   if (orientation_reset) {
     this->orientation_reset_count++;
-  }
-  else {
+  } else {
     this->orientation_reset_count = 0;
   }
 
@@ -649,8 +645,7 @@ void Localizer::determine_gps_mode(double current_time) {
     if (this->gps_mode){
       this->gps_mode = false;
       this->reset_kalman(current_time);
-    }
-    else{
+    } else {
       this->input_fake_gps_observations(current_time);
     }
   }
diff --git a/selfdrive/ui/qt/maps/map_settings.h b/selfdrive/ui/qt/maps/map_settings.h
index bfffd9206d..ffec1f980f 100644
--- a/selfdrive/ui/qt/maps/map_settings.h
+++ b/selfdrive/ui/qt/maps/map_settings.h
@@ -25,7 +25,7 @@ class NavigationRequest : public QObject {
 
 public:
   static NavigationRequest *instance();
-  QJsonArray currentLocations() const { return locations; };
+  QJsonArray currentLocations() const { return locations; }
 
 signals:
   void locationsUpdated(const QJsonArray &locations);
diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h
index 2fdae35de0..a1b6895ba0 100644
--- a/selfdrive/ui/qt/offroad/onboarding.h
+++ b/selfdrive/ui/qt/offroad/onboarding.h
@@ -63,7 +63,7 @@ class TermsPage : public QFrame {
   Q_OBJECT
 
 public:
-  explicit TermsPage(QWidget *parent = 0) : QFrame(parent) {};
+  explicit TermsPage(QWidget *parent = 0) : QFrame(parent) {}
 
 public slots:
   void enableAccept();
@@ -82,7 +82,7 @@ class DeclinePage : public QFrame {
   Q_OBJECT
 
 public:
-  explicit DeclinePage(QWidget *parent = 0) : QFrame(parent) {};
+  explicit DeclinePage(QWidget *parent = 0) : QFrame(parent) {}
 
 private:
   void showEvent(QShowEvent *event) override;
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 778322ed08..1975ec9f01 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -18,7 +18,7 @@ class OnroadAlerts : public QWidget {
   Q_OBJECT
 
 public:
-  OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {};
+  OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {}
   void updateAlert(const Alert &a);
 
 protected:
diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc
index 8f13576fb2..73a0f5014e 100644
--- a/selfdrive/ui/qt/spinner.cc
+++ b/selfdrive/ui/qt/spinner.cc
@@ -93,7 +93,7 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) {
 
   notifier = new QSocketNotifier(fileno(stdin), QSocketNotifier::Read);
   QObject::connect(notifier, &QSocketNotifier::activated, this, &Spinner::update);
-};
+}
 
 void Spinner::update(int n) {
   std::string line;
diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc
index ae06e3e903..d3c6486023 100644
--- a/selfdrive/ui/soundd/sound.cc
+++ b/selfdrive/ui/soundd/sound.cc
@@ -27,7 +27,7 @@ Sound::Sound(QObject *parent) : sm({"controlsState", "microphone"}) {
   QTimer *timer = new QTimer(this);
   QObject::connect(timer, &QTimer::timeout, this, &Sound::update);
   timer->start(1000 / UI_FREQ);
-};
+}
 
 void Sound::update() {
   sm.update(0);
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 1480342ee3..df70b7983d 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -194,7 +194,7 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
   unconditional_wait->delay = delay_ms;
   unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
   return (struct cam_cmd_power *)(unconditional_wait + 1);
-};
+}
 
 int CameraState::sensors_init() {
   uint32_t cam_packet_handle = 0;
diff --git a/system/camerad/cameras/camera_util.cc b/system/camerad/cameras/camera_util.cc
index 5e8640e99a..74c81a878a 100644
--- a/system/camerad/cameras/camera_util.cc
+++ b/system/camerad/cameras/camera_util.cc
@@ -37,7 +37,7 @@ std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data
   };
   int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd));
   return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt;
-};
+}
 
 int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) {
   struct cam_config_dev_cmd cmd = {
diff --git a/system/hardware/base.h b/system/hardware/base.h
index 5460099723..2096e1e0bb 100644
--- a/system/hardware/base.h
+++ b/system/hardware/base.h
@@ -11,10 +11,10 @@ public:
   static constexpr float MIN_VOLUME = 0.2;
 
   static std::string get_os_version() { return ""; }
-  static std::string get_name() { return ""; };
-  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; };
-  static int get_voltage() { return 0; };
-  static int get_current() { return 0; };
+  static std::string get_name() { return ""; }
+  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; }
+  static int get_voltage() { return 0; }
+  static int get_current() { return 0; }
 
   static std::string get_serial() { return "cccccc"; }
 
diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h
index 529b4bfe9d..84fb3bd89e 100644
--- a/system/hardware/pc/hardware.h
+++ b/system/hardware/pc/hardware.h
@@ -5,8 +5,8 @@
 class HardwarePC : public HardwareNone {
 public:
   static std::string get_os_version() { return "openpilot for PC"; }
-  static std::string get_name() { return "pc"; };
-  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; };
+  static std::string get_name() { return "pc"; }
+  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }
   static bool PC() { return true; }
   static bool TICI() { return util::getenv("TICI", 0) == 1; }
   static bool AGNOS() { return util::getenv("TICI", 0) == 1; }
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index 580dc83eec..82648ac984 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -15,19 +15,19 @@ public:
   static bool AGNOS() { return true; }
   static std::string get_os_version() {
     return "AGNOS " + util::read_file("/VERSION");
-  };
+  }
 
   static std::string get_name() {
     std::string devicetree_model = util::read_file("/sys/firmware/devicetree/base/model");
     return (devicetree_model.find("tizi") != std::string::npos) ? "tizi" : "tici";
-  };
+  }
 
   static cereal::InitData::DeviceType get_device_type() {
     return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : cereal::InitData::DeviceType::TICI;
-  };
+  }
 
-  static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); };
-  static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); };
+  static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }
+  static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); }
 
   static std::string get_serial() {
     static std::string serial("");
@@ -47,8 +47,8 @@ public:
     return serial;
   }
 
-  static void reboot() { std::system("sudo reboot"); };
-  static void poweroff() { std::system("sudo poweroff"); };
+  static void reboot() { std::system("sudo reboot"); }
+  static void poweroff() { std::system("sudo poweroff"); }
   static void set_brightness(int percent) {
     std::string max = util::read_file("/sys/class/backlight/panel0-backlight/max_brightness");
 
@@ -57,14 +57,14 @@ public:
       brightness_control << (int)(percent * (std::stof(max)/100.)) << "\n";
       brightness_control.close();
     }
-  };
+  }
   static void set_display_power(bool on) {
     std::ofstream bl_power_control("/sys/class/backlight/panel0-backlight/bl_power");
     if (bl_power_control.is_open()) {
       bl_power_control << (on ? "0" : "4") << "\n";
       bl_power_control.close();
     }
-  };
+  }
   static void set_volume(float volume) {
     volume = util::map_val(volume, 0.f, 1.f, MIN_VOLUME, MAX_VOLUME);
 
@@ -99,6 +99,6 @@ public:
     return ret;
   }
 
-  static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); };
-  static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); };
+  static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); }
+  static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); }
 };
diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
index 59ec4357ae..bf70775b7c 100644
--- a/system/loggerd/encoder/encoder.h
+++ b/system/loggerd/encoder/encoder.h
@@ -15,7 +15,7 @@
 class VideoEncoder {
 public:
   VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
-  virtual ~VideoEncoder() {};
+  virtual ~VideoEncoder() {}
   virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
   virtual void encoder_open(const char* path) = 0;
   virtual void encoder_close() = 0;
diff --git a/system/sensord/sensors/sensor.h b/system/sensord/sensors/sensor.h
index 603aa3586e..2557155229 100644
--- a/system/sensord/sensors/sensor.h
+++ b/system/sensord/sensors/sensor.h
@@ -6,7 +6,7 @@ class Sensor {
 public:
   int gpio_fd = -1;
   uint64_t init_delay = 500e6; // default dealy 500ms
-  virtual ~Sensor() {};
+  virtual ~Sensor() {}
   virtual int init() = 0;
   virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0;
   virtual bool has_interrupt_enabled() = 0;
diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc
index 7cecf58bed..02993a574d 100644
--- a/system/ubloxd/ublox_msg.cc
+++ b/system/ubloxd/ublox_msg.cc
@@ -295,8 +295,7 @@ kj::Array<capnp::word> UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_
         continue;
       if (glonass_string_superframes[msg->freq_id()][i] == 0 || gl_string.superframe_number() == 0) {
         superframe_unknown = true;
-      }
-      else if (glonass_string_superframes[msg->freq_id()][i] != gl_string.superframe_number()) {
+      } else if (glonass_string_superframes[msg->freq_id()][i] != gl_string.superframe_number()) {
         needs_clear = true;
       }
       // Check if string times add up to being from the same frame
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index fb42a58e24..21885d742b 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -39,7 +39,7 @@ class AbstractStream : public QObject {
 
 public:
   AbstractStream(QObject *parent);
-  virtual ~AbstractStream() {};
+  virtual ~AbstractStream() {}
   virtual void start() = 0;
   inline bool liveStreaming() const { return route() == nullptr; }
   virtual void seekTo(double ts) {}
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index a9a6bfd910..1792702957 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -72,7 +72,7 @@ public:
   inline void setSpeed(float speed) { speed_ = speed; }
   inline float getSpeed() const { return speed_; }
   inline const std::vector<Event *> *events() const { return events_.get(); }
-  inline const std::map<int, std::unique_ptr<Segment>> &segments() const { return segments_; };
+  inline const std::map<int, std::unique_ptr<Segment>> &segments() const { return segments_; }
   inline const std::string &carFingerprint() const { return car_fingerprint_; }
   inline const std::vector<std::tuple<double, double, TimelineType>> getTimeline() {
     std::lock_guard lk(timeline_lock);