diff --git a/platformio.ini b/platformio.ini
index c5bc22d..14b3e2d 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -15,7 +15,7 @@ board_build.partitions = no_ota.csv
 framework = arduino
 monitor_speed = 115200
 upload_speed = 921600
-monitor_port = COM6
+; monitor_port = COM6
 lib_deps = 
 	https://git.kleiax.de/PlatformIO-Libs/SparkFunGNSS.git
 	knolleary/PubSubClient@^2.8
@@ -26,11 +26,13 @@ lib_deps =
 	https://git.kleiax.de/PlatformIO-Libs/Menu.git
 	nrf24/RF24@^1.4.5
 	jrowberg/I2Cdevlib-MPU6050@^1.0.0
-upload_port = COM6
+; upload_port = COM6
 test_ignore = test_desktop
 build_type = debug
 monitor_filters = esp32_exception_decoder
 check_tool = clangtidy
+check_flags =
+	clangtidy: --checks=*,-llvmlibc
 
 [env:native]
 platform = native
diff --git a/src/SpecialMenus/Route/menuRoute.cpp b/src/SpecialMenus/Route/menuRoute.cpp
index 772c23a..cc66531 100644
--- a/src/SpecialMenus/Route/menuRoute.cpp
+++ b/src/SpecialMenus/Route/menuRoute.cpp
@@ -87,10 +87,10 @@ void MenuRoute::init() {
     this->mainMenu->setLcd(this->lcd);
     pointsMenu->setLcd(this->lcd);
 
-    MenuIntInput* importWrapper = new MenuIntInput(1, new MenuRouteWrapper(this, &MenuRoute::importRoute));
-    MenuIntInput* exportWrapper = new MenuIntInput(1, new MenuRouteWrapper(this, &MenuRoute::exportRoute));
-    MenuIntInput* deleteWrapper = new MenuIntInput(1, new MenuRouteWrapper(this, &MenuRoute::deleteRoute));
-    MenuActionRoute* clearWrapper = new MenuActionRoute(this, &MenuRoute::clearRoute);
+    auto importWrapper = new MenuIntInput(1, new MenuRouteWrapper(this, &MenuRoute::importRoute));
+    auto exportWrapper = new MenuIntInput(1, new MenuRouteWrapper(this, &MenuRoute::exportRoute));
+    auto deleteWrapper = new MenuIntInput(1, new MenuRouteWrapper(this, &MenuRoute::deleteRoute));
+    auto clearWrapper = new MenuActionRoute(this, &MenuRoute::clearRoute);
 
     importWrapper->setLcd(this->lcd);
     importWrapper->setMinMax(0, 100);
diff --git a/src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp b/src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
index f5157df..17363cb 100644
--- a/src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
+++ b/src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
@@ -85,18 +85,18 @@ void MenuTestMode::init() {
 
     // Create menu
     this->mainMenu = new Menu;
-    Menu* engineMenu = new Menu;
-    Menu* lightMenu = new Menu;
-    Menu* encoderMenu = new Menu;
+    auto engineMenu = new Menu;
+    auto lightMenu = new Menu;
+    auto encoderMenu = new Menu;
     // Sound
     // Ping google
 
-    MenuIntInput* drivingMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::drive));
-    MenuIntInput* engineLeftMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::leftEngine));
-    MenuIntInput* engineRightMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::rightEngine));
-    MenuIntInput* engineBothMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::bothEngine));
-    SpeedometerTest* encoderLeftMenu = new SpeedometerTest(this->testMode->getSpeedometerLeft());
-    SpeedometerTest* encoderRightMenu = new SpeedometerTest(this->testMode->getSpeedometerRight());
+    auto drivingMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::drive));
+    auto engineLeftMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::leftEngine));
+    auto engineRightMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::rightEngine));
+    auto engineBothMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::bothEngine));
+    auto encoderLeftMenu = new SpeedometerTest(this->testMode->getSpeedometerLeft());
+    auto encoderRightMenu = new SpeedometerTest(this->testMode->getSpeedometerRight());
 
 
     // Set menus on LCD
diff --git a/src/main.cpp b/src/main.cpp
index 161f8f4..e819e63 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -203,22 +203,22 @@ void makeMenu() {
     // Create Menu
     main_m = new Menu();
     main_m->setLcd(lcdWrapper);
-    Menu* mode_m = new Menu();
-    Menu* set_m = new Menu();
-    Menu* pid_m = new Menu();
-    MenuIntInput* pidl_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(0)));
-    MenuIntInput* pidr_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(1)));
-    MenuIntInput* speed_m = new MenuIntInput(2, new MenuSpeed(driveManager->getDrivingSpeedsRef()));
-    MenuManualControl* man_m = new MenuManualControl(driveManager);
-    MenuCaptureRoute* cap_m = new MenuCaptureRoute(driveManager);
-    MenuAutopilot* auto_m = new MenuAutopilot(driveManager);
-    MenuTestMode* testM_m = new MenuTestMode(driveManager);
-    MenuCalibrateCompass* comp_m = new MenuCalibrateCompass(driveManager);
-    MenuSysteminformation* sys_m = new MenuSysteminformation(mainBattery);
-    MenuSensorData* sen_m = new MenuSensorData(sensorData);
+    auto mode_m = new Menu();
+    auto set_m = new Menu();
+    auto pid_m = new Menu();
+    auto pidl_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(0)));
+    auto pidr_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(1)));
+    auto speed_m = new MenuIntInput(2, new MenuSpeed(driveManager->getDrivingSpeedsRef()));
+    auto man_m = new MenuManualControl(driveManager);
+    auto cap_m = new MenuCaptureRoute(driveManager);
+    auto auto_m = new MenuAutopilot(driveManager);
+    auto testM_m = new MenuTestMode(driveManager);
+    auto comp_m = new MenuCalibrateCompass(driveManager);
+    auto sys_m = new MenuSysteminformation(mainBattery);
+    auto sen_m = new MenuSensorData(sensorData);
     //TODO: Wie bekommt jeder die dumme Route?
-    MenuRoute* rout_m = new MenuRoute(new Route());
-    MenuCalibrateBattery* bat_m = new MenuCalibrateBattery(mainBattery);
+    auto rout_m = new MenuRoute(new Route());
+    auto bat_m = new MenuCalibrateBattery(mainBattery);
 
     auto_m->setUpdateDelay(1000);
     sys_m->setUpdateDelay(1500);
@@ -271,7 +271,7 @@ void makeMenu() {
     controlPad->setMenuControl(main_m);
 }
 
-void restart(void) {
+void restart() {
     lcdWrapper->clear();
     lcdWrapper->setCursor(0, 0);
     lcdWrapper->print("Rebooting ...");
diff --git a/src/moveControl.cpp b/src/moveControl.cpp
index 20c9248..b8661c5 100644
--- a/src/moveControl.cpp
+++ b/src/moveControl.cpp
@@ -151,8 +151,7 @@ PID* MoveControl::getPID(uint8_t side) const {
         return this->left_pid;
     else if (side == 1)
         return this->right_pid;
-    else
-        return nullptr;
+    return nullptr;
 }
 
 void MoveControl::setSpeedometerDirection(Speedometer *speedometer, double value) {