diff --git a/mavros/include/mavros/plugin.hpp b/mavros/include/mavros/plugin.hpp
index 17725ae0f..37fda8025 100644
--- a/mavros/include/mavros/plugin.hpp
+++ b/mavros/include/mavros/plugin.hpp
@@ -44,7 +44,7 @@ namespace plugin
 {
 
 using mavros::uas::UAS;
-using UASPtr = std::shared_ptr<UAS>;
+using UASPtr = UAS *;
 using r_unique_lock = std::unique_lock<std::recursive_mutex>;
 using s_unique_lock = std::unique_lock<std::shared_timed_mutex>;
 using s_shared_lock = std::shared_lock<std::shared_timed_mutex>;
diff --git a/mavros/include/mavros/plugin_filter.hpp b/mavros/include/mavros/plugin_filter.hpp
index 3d3b28a17..b89e0192c 100644
--- a/mavros/include/mavros/plugin_filter.hpp
+++ b/mavros/include/mavros/plugin_filter.hpp
@@ -32,7 +32,7 @@ namespace filter
 {
 using mavros::plugin::Filter;
 using mavros::uas::UAS;
-using UASPtr = UAS::SharedPtr;
+using UASPtr = UAS *;
 using mavconn::Framing;
 
 
diff --git a/mavros/src/lib/mavros_uas.cpp b/mavros/src/lib/mavros_uas.cpp
index e185df6a4..424d92404 100644
--- a/mavros/src/lib/mavros_uas.cpp
+++ b/mavros/src/lib/mavros_uas.cpp
@@ -84,7 +84,7 @@ UAS::UAS(
   this->declare_parameter("odom_frame_id", odom_frame_id);
   this->declare_parameter("map_frame_id", map_frame_id);
 
-  // NOTE(vooon): we couldn't add_plugin() in constructor because it needs shared_from_this()
+  // NOTE: we can add_plugin() in constructor because it does not need shared_from_this()
   startup_delay_timer = this->create_wall_timer(
     10ms, [this]() {
       startup_delay_timer->cancel();
@@ -264,7 +264,7 @@ plugin::Plugin::SharedPtr UAS::create_plugin_instance(const std::string & pl_nam
   auto plugin_factory = plugin_factory_loader.createSharedInstance(pl_name);
 
   return
-    plugin_factory->create_plugin_instance(std::static_pointer_cast<UAS>(shared_from_this()));
+    plugin_factory->create_plugin_instance(this);
 }
 
 void UAS::add_plugin(const std::string & pl_name)
diff --git a/mavros/src/plugins/global_position.cpp b/mavros/src/plugins/global_position.cpp
index 77a741359..9c6ca85fe 100644
--- a/mavros/src/plugins/global_position.cpp
+++ b/mavros/src/plugins/global_position.cpp
@@ -548,7 +548,7 @@ class GlobalPositionPlugin : public plugin::Plugin
     gpo.latitude = req->position.latitude * 1E7;
     gpo.longitude = req->position.longitude * 1E7;
     gpo.altitude = (req->position.altitude +
-      uas->data.ellipsoid_to_geoid_height(req->position)) * 1E3;
+    uas->data.ellipsoid_to_geoid_height(req->position)) * 1E3;
 
     uas->send_message(gpo);
   }
diff --git a/mavros/src/plugins/home_position.cpp b/mavros/src/plugins/home_position.cpp
index 57325fe60..7b7f3c195 100644
--- a/mavros/src/plugins/home_position.cpp
+++ b/mavros/src/plugins/home_position.cpp
@@ -130,7 +130,7 @@ class HomePositionPlugin : public plugin::Plugin
     hp.geo.latitude = home_position.latitude / 1E7;     // deg
     hp.geo.longitude = home_position.longitude / 1E7;   // deg
     hp.geo.altitude = home_position.altitude / 1E3 +
-      uas->data.geoid_to_ellipsoid_height(hp.geo);      // in meters
+    uas->data.geoid_to_ellipsoid_height(hp.geo);      // in meters
     hp.orientation = tf2::toMsg(q);
     hp.position = tf2::toMsg(pos);
     tf2::toMsg(hp_approach_enu, hp.approach);
diff --git a/mavros/test/test_uas.cpp b/mavros/test/test_uas.cpp
index a6d1edd5a..e23f378cc 100644
--- a/mavros/test/test_uas.cpp
+++ b/mavros/test/test_uas.cpp
@@ -61,7 +61,7 @@ class MockPlugin : public plugin::Plugin
 public:
   using SharedPtr = std::shared_ptr<MockPlugin>;
 
-  explicit MockPlugin(UAS::SharedPtr uas_)
+  explicit MockPlugin(UASPtr uas_)
   : Plugin(uas_, "mock_plugin") {}
 
   MOCK_METHOD0(get_subscriptions, plugin::Plugin::Subscriptions(void));
@@ -208,9 +208,9 @@ TEST_F(TestUAS, is_plugin_allowed)
 TEST_F(TestUAS, add_plugin__route_message__filter)
 {
   auto uas = create_node();
-  auto plugin1 = std::make_shared<MockPlugin>(uas);
+  auto plugin1 = std::make_shared<MockPlugin>(uas.get());
   auto subs1 = plugin1->allsubs();
-  auto plugin2 = std::make_shared<MockPlugin>(uas);
+  auto plugin2 = std::make_shared<MockPlugin>(uas.get());
   auto subs2 = plugin2->rawsubs();
 
   // XXX(vooon): silence leak warnings: they work badly with shared_ptr