diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index fbfdb883..72d14b04 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -22,13 +22,13 @@ jobs:
           fetch-depth: 0
 
       - name: Install pip
-        run: sudo apt-get install -y python3-pip
+        run: sudo apt-get install -y python3-pip pipx
 
       - name: Check style
         run: |
-          python3 -m pip install pycodestyle
-          export PATH=$PATH:$HOME/.local/bin
-          pycodestyle --max-line-length=100 examples/*
+          pipx run ruff format --check --line-length=100 examples
+          pipx run ruff check --select=ASYNC,RUF006,E,F --line-length=100 examples
+          pipx run codespell .
 
       - name: Install prerequisites
         run: |
diff --git a/examples/camera.py b/examples/camera.py
index a6b224b3..e5e3dae4 100755
--- a/examples/camera.py
+++ b/examples/camera.py
@@ -17,7 +17,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     print_mode_task = asyncio.ensure_future(print_mode(drone))
diff --git a/examples/camera_params.py b/examples/camera_params.py
index 50b6ed88..0c4ef0e3 100755
--- a/examples/camera_params.py
+++ b/examples/camera_params.py
@@ -24,20 +24,22 @@ async def run():
     drone = System()
     await drone.connect(system_address="udpin://0.0.0.0:14540")
 
-    asyncio.ensure_future(observe_current_settings(drone))
-    asyncio.ensure_future(observe_camera_mode(drone))
-    asyncio.ensure_future(observe_possible_setting_options(drone))
+    _tasks = [
+        asyncio.create_task(observe_current_settings(drone)),
+        asyncio.create_task(observe_camera_mode(drone)),
+        asyncio.create_task(observe_possible_setting_options(drone)),
+    ]
 
     while True:
         entered_input = await ainput(usage_str)
 
         if entered_input == "p":
-            print(f"\n=== Current settings ===\n")
+            print("\n=== Current settings ===\n")
             print_current_settings()
         elif entered_input == "m":
-            print(f"\n=== Possible modes ===\n")
-            print(f"1. PHOTO")
-            print(f"2. VIDEO")
+            print("\n=== Possible modes ===\n")
+            print("1. PHOTO")
+            print("2. VIDEO")
 
             try:
                 index_mode = await make_user_choose_camera_mode()
@@ -54,11 +56,11 @@ async def run():
 
             try:
                 await drone.camera.set_mode(chosen_mode)
-                print(f" --> Succeeded")
+                print(" --> Succeeded")
             except CameraError as error:
                 print(f" --> Failed with code: {error._result.result_str}")
         elif entered_input == "s":
-            print(f"\n=== Possible settings ===\n")
+            print("\n=== Possible settings ===\n")
             print_possible_settings(possible_setting_options)
 
             try:
@@ -70,10 +72,10 @@ async def run():
             selected_setting = possible_setting_options[index_setting - 1]
             possible_options = selected_setting.options
 
-            print(f"\n=== Available options ===")
+            print("\n=== Available options ===")
             print(f"Setting: {selected_setting.setting_id}")
             if not selected_setting.is_range:
-                print(f"Options:")
+                print("Options:")
                 try:
                     print_possible_options(possible_options)
                     index_option = await make_user_choose_option(possible_options)
@@ -94,9 +96,7 @@ async def run():
                     continue
             else:
                 try:
-                    selected_value = await make_user_choose_option_range(
-                        possible_options
-                    )
+                    selected_value = await make_user_choose_option_range(possible_options)
 
                     print(f"Setting {selected_setting.setting_id} to {selected_value}!")
                     setting = Setting(
@@ -111,7 +111,7 @@ async def run():
 
             try:
                 await drone.camera.set_setting(setting)
-                print(f" --> Succeeded")
+                print(" --> Succeeded")
             except CameraError as error:
                 print(f" --> Failed with code: {error._result.result_str}")
         else:
@@ -148,7 +148,7 @@ def print_current_settings():
 
 
 async def make_user_choose_camera_mode():
-    index_mode_str = await ainput(f"\nWhich mode do you want? [1..2] >>> ")
+    index_mode_str = await ainput("\nWhich mode do you want? [1..2] >>> ")
     index_mode = int(index_mode_str)
     if index_mode < 1 or index_mode > 2:
         raise ValueError()
@@ -185,9 +185,7 @@ def print_possible_options(possible_options):
 
 async def make_user_choose_option(possible_options):
     n_options = len(possible_options)
-    index_option_str = await ainput(
-        f"\nWhich option do you want? [1..{n_options}] >>> "
-    )
+    index_option_str = await ainput(f"\nWhich option do you want? [1..{n_options}] >>> ")
 
     index_option = int(index_option_str)
     if index_option < 1 or index_option > n_options:
diff --git a/examples/failure_injection.py b/examples/failure_injection.py
index 8284e7c9..2346157d 100755
--- a/examples/failure_injection.py
+++ b/examples/failure_injection.py
@@ -13,7 +13,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     print("Waiting for drone to have a global position estimate...")
diff --git a/examples/firmware_version.py b/examples/firmware_version.py
index 08dd022b..30c5fa11 100755
--- a/examples/firmware_version.py
+++ b/examples/firmware_version.py
@@ -15,7 +15,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     info = await drone.info.get_version()
diff --git a/examples/follow_me_example.py b/examples/follow_me_example.py
index 048573a8..3ec69408 100755
--- a/examples/follow_me_example.py
+++ b/examples/follow_me_example.py
@@ -4,7 +4,7 @@
 
 import asyncio
 from mavsdk import System
-from mavsdk.follow_me import Config, FollowMeError, TargetLocation
+from mavsdk.follow_me import Config, TargetLocation
 
 
 follow_height = 8.0  # in meters
@@ -32,7 +32,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     print("Waiting for drone to have a global position estimate...")
diff --git a/examples/ftp_download_file.py b/examples/ftp_download_file.py
index 312af188..2bb78da0 100755
--- a/examples/ftp_download_file.py
+++ b/examples/ftp_download_file.py
@@ -11,7 +11,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     async for update in drone.ftp.download(
diff --git a/examples/ftp_list_dir.py b/examples/ftp_list_dir.py
index 21fa1473..23fac385 100755
--- a/examples/ftp_list_dir.py
+++ b/examples/ftp_list_dir.py
@@ -11,7 +11,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     print("directory list", await drone.ftp.list_directory("/"))
diff --git a/examples/geofence.py b/examples/geofence.py
index 557a4c77..6e10fc39 100755
--- a/examples/geofence.py
+++ b/examples/geofence.py
@@ -26,7 +26,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     # Fetch the home location coordinates, in order to set a boundary around
diff --git a/examples/gimbal.py b/examples/gimbal.py
index 5680e4c3..ab2ddff8 100755
--- a/examples/gimbal.py
+++ b/examples/gimbal.py
@@ -107,9 +107,7 @@ async def run():
         # Set the gimbal to track a region of interest (lat, lon, altitude)
         # Units are degrees and meters MSL respectively
         print("Look at a ROI (region of interest) with gimbal ID", gimbal.gimbal_id)
-        await drone.gimbal.set_roi_location(
-            gimbal.gimbal_id, 47.39743832, 8.5463316, 488
-        )
+        await drone.gimbal.set_roi_location(gimbal.gimbal_id, 47.39743832, 8.5463316, 488)
         await asyncio.sleep(4)
 
         print("Back to forward again with gimbal ID", gimbal.gimbal_id)
diff --git a/examples/goto.py b/examples/goto.py
index e2088a30..c5e0a340 100755
--- a/examples/goto.py
+++ b/examples/goto.py
@@ -15,7 +15,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     print("Waiting for drone to have a global position estimate...")
diff --git a/examples/gripper.py b/examples/gripper.py
index ae78e682..a2dddcb9 100644
--- a/examples/gripper.py
+++ b/examples/gripper.py
@@ -11,15 +11,15 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
-    print(f"-- Gripper Grab")
+    print("-- Gripper Grab")
     await drone.gripper.grab(instance=1)
 
     await asyncio.sleep(1)
 
-    print(f"-- Gripper Release")
+    print("-- Gripper Release")
     await drone.gripper.release(instance=1)
 
     while True:
diff --git a/examples/highres_imu.py b/examples/highres_imu.py
index dd129f6b..3cc343eb 100644
--- a/examples/highres_imu.py
+++ b/examples/highres_imu.py
@@ -23,7 +23,7 @@ async def get_imu_data():
     print("Fetching IMU data...")
     async for imu in telemetry.imu():
         # Print data in HIGHRES_IMU format
-        print(f"HIGHRES_IMU (105)")
+        print("HIGHRES_IMU (105)")
         print(f"Time (us): {imu.timestamp_us}")
         print(f"X Acceleration (m/s^2): {imu.acceleration_frd.forward_m_s2}")
         print(f"Y Acceleration (m/s^2): {imu.acceleration_frd.right_m_s2}")
diff --git a/examples/logfile_download.py b/examples/logfile_download.py
index da67c013..d6020b66 100755
--- a/examples/logfile_download.py
+++ b/examples/logfile_download.py
@@ -12,7 +12,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     entries = await get_entries(drone)
diff --git a/examples/manual_control.py b/examples/manual_control.py
index 4a1447c8..0cf7fa34 100755
--- a/examples/manual_control.py
+++ b/examples/manual_control.py
@@ -40,7 +40,7 @@ async def manual_controls():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     # Checking if Global Position Estimate is ok
@@ -50,9 +50,7 @@ async def manual_controls():
             break
 
     # set the manual control input after arming
-    await drone.manual_control.set_manual_control_input(
-        float(0), float(0), float(0.5), float(0)
-    )
+    await drone.manual_control.set_manual_control_input(float(0), float(0), float(0.5), float(0))
 
     # Arming the drone
     print("-- Arming")
@@ -64,9 +62,7 @@ async def manual_controls():
     await asyncio.sleep(5)
 
     # set the manual control input after arming
-    await drone.manual_control.set_manual_control_input(
-        float(0), float(0), float(0.5), float(0)
-    )
+    await drone.manual_control.set_manual_control_input(float(0), float(0), float(0.5), float(0))
 
     # start manual control
     print("-- Starting manual control")
diff --git a/examples/mission.py b/examples/mission.py
index 68016340..8b42298e 100755
--- a/examples/mission.py
+++ b/examples/mission.py
@@ -17,7 +17,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     print_mission_progress_task = asyncio.ensure_future(print_mission_progress(drone))
diff --git a/examples/mission_import.py b/examples/mission_import.py
index b693ca1d..26d01863 100755
--- a/examples/mission_import.py
+++ b/examples/mission_import.py
@@ -3,7 +3,6 @@
 import asyncio
 
 from mavsdk import System
-import mavsdk.mission_raw
 
 
 async def run():
@@ -13,15 +12,12 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     out = await drone.mission_raw.import_qgroundcontrol_mission("example-mission.plan")
 
-    print(
-        f"{len(out.mission_items)} mission items and"
-        f"{len(out.rally_items)} rally items imported."
-    )
+    print(f"{len(out.mission_items)} mission items and{len(out.rally_items)} rally items imported.")
 
     await drone.mission_raw.upload_mission(out.mission_items)
     await drone.mission_raw.upload_rally_points(out.rally_items)
diff --git a/examples/offboard_attitude.py b/examples/offboard_attitude.py
index 9155a108..b1ca6258 100755
--- a/examples/offboard_attitude.py
+++ b/examples/offboard_attitude.py
@@ -20,7 +20,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     print("Waiting for drone to have a global position estimate...")
diff --git a/examples/offboard_from_csv/offboard_from_csv.py b/examples/offboard_from_csv/offboard_from_csv.py
index 6510f3d1..92877e9b 100644
--- a/examples/offboard_from_csv/offboard_from_csv.py
+++ b/examples/offboard_from_csv/offboard_from_csv.py
@@ -78,9 +78,11 @@
 
 import asyncio
 import csv
+import io
+import anyio
 from mavsdk import System
 from mavsdk.offboard import PositionNedYaw, VelocityNedYaw
-from mavsdk.offboard import AccelerationNed, OffboardError
+from mavsdk.offboard import OffboardError
 from mavsdk.telemetry import LandedState
 
 
@@ -143,27 +145,25 @@ async def run():
         await drone.action.disarm()
         return
 
-    waypoints = []
-
     # Read data from the CSV file
-    with open("active.csv", newline="") as csvfile:
-        reader = csv.DictReader(csvfile)
-        for row in reader:
-            waypoints.append(
-                (
-                    float(row["t"]),
-                    float(row["px"]),
-                    float(row["py"]),
-                    float(row["pz"]),
-                    float(row["vx"]),
-                    float(row["vy"]),
-                    float(row["vz"]),
-                    float(row["ax"]),
-                    float(row["ay"]),
-                    float(row["az"]),
-                    int(row["mode"]),
-                )
-            )
+    async with await anyio.open_file("active.csv", "r", newline="") as csvfile:
+        content = await csvfile.read()
+    waypoints = [
+        (
+            float(row["t"]),
+            float(row["px"]),
+            float(row["py"]),
+            float(row["pz"]),
+            float(row["vx"]),
+            float(row["vy"]),
+            float(row["vz"]),
+            float(row["ax"]),
+            float(row["ay"]),
+            float(row["az"]),
+            int(row["mode"]),
+        )
+        for row in csv.DictReader(io.StringIO(content))
+    ]
 
     print("-- Performing trajectory")
     total_duration = waypoints[-1][0]
@@ -178,14 +178,11 @@ async def run():
 
         position = current_waypoint[1:4]
         velocity = current_waypoint[4:7]
-        acceleration = current_waypoint[7:10]
+        _acceleration = current_waypoint[7:10]  # unused
         mode_code = current_waypoint[-1]
         if last_mode != mode_code:
             # Print the mode number and its description
-            print(
-                " Mode number: " + f"{mode_code}, "
-                f"Description: {mode_descriptions[mode_code]}"
-            )
+            print(" Mode number: " + f"{mode_code}, Description: {mode_descriptions[mode_code]}")
             last_mode = mode_code
         # set_position_velocity_acceleration_ned is not yet available
         # in the default build for MAVSDK-Python Installation with pip3
diff --git a/examples/offboard_position_ned.py b/examples/offboard_position_ned.py
index 8997dd8a..e7b470a9 100755
--- a/examples/offboard_position_ned.py
+++ b/examples/offboard_position_ned.py
@@ -27,7 +27,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     print("Waiting for drone to have a global position estimate...")
diff --git a/examples/offboard_position_velocity_ned.py b/examples/offboard_position_velocity_ned.py
index f9a7ce8b..a209d00b 100755
--- a/examples/offboard_position_velocity_ned.py
+++ b/examples/offboard_position_velocity_ned.py
@@ -13,7 +13,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     print("Waiting for drone to have a global position estimate...")
@@ -44,7 +44,7 @@ async def print_z_velocity(drone):
         async for odom in drone.telemetry.position_velocity_ned():
             print(f"{odom.velocity.north_m_s} {odom.velocity.down_m_s}")
 
-    asyncio.ensure_future(print_z_velocity(drone))
+    _tasks = {asyncio.create_task(print_z_velocity(drone))}
 
     print("-- Go 0m North, 0m East, -10m Down within local coordinate system")
     await drone.offboard.set_position_velocity_ned(
diff --git a/examples/offboard_velocity_body.py b/examples/offboard_velocity_body.py
index c3ef1ce9..b2519714 100755
--- a/examples/offboard_velocity_body.py
+++ b/examples/offboard_velocity_body.py
@@ -16,7 +16,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     print("Waiting for drone to have a global position estimate...")
diff --git a/examples/offboard_velocity_ned.py b/examples/offboard_velocity_ned.py
index 2196f976..be7d88ef 100755
--- a/examples/offboard_velocity_ned.py
+++ b/examples/offboard_velocity_ned.py
@@ -16,7 +16,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     print("Waiting for drone to have a global position estimate...")
diff --git a/examples/rtk_base_ublox.py b/examples/rtk_base_ublox.py
index a2069238..abb21c4f 100755
--- a/examples/rtk_base_ublox.py
+++ b/examples/rtk_base_ublox.py
@@ -33,9 +33,7 @@ def read_packet(self, dev, preamble):
 
         if self.debug:
             print(
-                "UBX class id {} and message id {}".format(
-                    ord(ubx_class_id), ord(ubx_message_id)
-                )
+                "UBX class id {} and message id {}".format(ord(ubx_class_id), ord(ubx_message_id))
             )
 
         # The ubx message in full_data could be parsed with pyubx2.UBXReader
@@ -86,7 +84,7 @@ def read_packet(self, dev, preamble):
 async def run():
     # Init the drone.
     # Note that connecting directly to a drone is not very useful here.
-    # You probably want to set-up some MAVLink message routing inbetween
+    # You probably want to set-up some MAVLink message routing in-between
     # this script and the drone.
     # Good candidates for this are
     # 1. mavlink-router (https://github.com/mavlink-router/mavlink-router)
@@ -97,11 +95,14 @@ async def run():
     await drone.connect()
 
     # Start the tasks
-    asyncio.ensure_future(print_gps_info(drone))
-    asyncio.ensure_future(send_rtcm(drone))
+    _tasks = [
+        asyncio.create_task(print_gps_info(drone)),
+        asyncio.create_task(send_rtcm(drone)),
+    ]
 
-    while True:
-        await asyncio.sleep(1)
+    # Keep the program running indefinitely
+    exit_event = asyncio.Event()
+    await exit_event.wait()
 
 
 async def print_gps_info(drone):
@@ -139,9 +140,7 @@ async def send_rtcm(drone):
                 # Convert the rtcm data to a base64,
                 # In MAVSDK v3 the rtcm data is expected
                 # to be base64 encoded string .
-                base64_rtcm_data = base64.b64encode(rtcm_correction_data).decode(
-                    "utf-8"
-                )
+                base64_rtcm_data = base64.b64encode(rtcm_correction_data).decode("utf-8")
 
                 # Send RTCM
                 await drone.rtk.send_rtcm_data(rtk.RtcmData(base64_rtcm_data))
@@ -167,7 +166,7 @@ async def send_rtcm(drone):
                 # It's recommended to disable NMEA messages, so this script
                 # does not have to differentiate between 3 kinds of messages
 
-                nmea = ublox.readline()
+                # nmea = ublox.readline()
                 # print(nmea)
                 pass
 
diff --git a/examples/send_status_message.py b/examples/send_status_message.py
index 50e4e9ed..dd4086f1 100755
--- a/examples/send_status_message.py
+++ b/examples/send_status_message.py
@@ -23,10 +23,8 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
-            await drone.server_utility.send_status_text(
-                StatusTextType.INFO, "Hello world!"
-            )
+            print("-- Connected to drone!")
+            await drone.server_utility.send_status_text(StatusTextType.INFO, "Hello world!")
             break
 
 
diff --git a/examples/shell.py b/examples/shell.py
index 15673bb0..5d7e0a26 100755
--- a/examples/shell.py
+++ b/examples/shell.py
@@ -5,17 +5,19 @@
 
 from mavsdk import System
 
+send_tasks = set()
+
 
 async def run():
     drone = System()
     await drone.connect(system_address="udpin://0.0.0.0:14540")
 
-    asyncio.ensure_future(observe_shell(drone))
+    _tasks = {asyncio.create_task(observe_shell(drone))}
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     asyncio.get_event_loop().add_reader(sys.stdin, got_stdin_data, drone)
@@ -28,7 +30,7 @@ async def observe_shell(drone):
 
 
 def got_stdin_data(drone):
-    asyncio.ensure_future(send(drone, sys.stdin.readline()))
+    send_tasks.add(asyncio.create_task(send(drone, sys.stdin.readline())))
 
 
 async def send(drone, command):
@@ -36,9 +38,7 @@ async def send(drone, command):
 
 
 if __name__ == "__main__":
-    asyncio.ensure_future(run())
-
     try:
-        asyncio.get_event_loop().run_forever()
+        asyncio.run(run())
     except KeyboardInterrupt:
         pass
diff --git a/examples/takeoff_and_land.py b/examples/takeoff_and_land.py
index 712a9179..19a19eb4 100755
--- a/examples/takeoff_and_land.py
+++ b/examples/takeoff_and_land.py
@@ -18,7 +18,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     print("Waiting for drone to have a global position estimate...")
diff --git a/examples/telemetry.py b/examples/telemetry.py
index 0e271e08..dd973b21 100755
--- a/examples/telemetry.py
+++ b/examples/telemetry.py
@@ -15,13 +15,16 @@ async def run():
     await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     # Start the tasks
-    asyncio.ensure_future(print_battery(drone))
-    asyncio.ensure_future(print_gps_info(drone))
-    asyncio.ensure_future(print_in_air(drone))
-    asyncio.ensure_future(print_position(drone))
-
-    while True:
-        await asyncio.sleep(1)
+    _tasks = [
+        asyncio.create_task(print_battery(drone)),
+        asyncio.create_task(print_gps_info(drone)),
+        asyncio.create_task(print_in_air(drone)),
+        asyncio.create_task(print_position(drone)),
+    ]
+
+    # Keep the program running indefinitely
+    exit_event = asyncio.Event()
+    await exit_event.wait()
 
 
 async def print_battery(drone):
diff --git a/examples/telemetry_flight_mode.py b/examples/telemetry_flight_mode.py
index 4fff2249..42ba1f3e 100755
--- a/examples/telemetry_flight_mode.py
+++ b/examples/telemetry_flight_mode.py
@@ -11,7 +11,7 @@ async def print_flight_mode():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     async for flight_mode in drone.telemetry.flight_mode():
diff --git a/examples/telemetry_is_armed_is_in_air.py b/examples/telemetry_is_armed_is_in_air.py
index deccf67c..ce313877 100755
--- a/examples/telemetry_is_armed_is_in_air.py
+++ b/examples/telemetry_is_armed_is_in_air.py
@@ -8,11 +8,13 @@ async def run():
     drone = System()
     await drone.connect(system_address="udpin://0.0.0.0:14540")
 
-    asyncio.ensure_future(print_is_armed(drone))
-    asyncio.ensure_future(print_is_in_air(drone))
+    tasks = []
+    tasks.append(asyncio.create_task(print_is_armed(drone)))
+    tasks.append(asyncio.create_task(print_is_in_air(drone)))
 
-    while True:
-        await asyncio.sleep(1)
+    # Keep the program running indefinitely
+    exit_event = asyncio.Event()
+    await exit_event.wait()
 
 
 async def print_is_armed(drone):
diff --git a/examples/telemetry_status_text.py b/examples/telemetry_status_text.py
index ecdf15d5..b888dc28 100755
--- a/examples/telemetry_status_text.py
+++ b/examples/telemetry_status_text.py
@@ -11,7 +11,7 @@ async def print_status_text():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     async for status_text in drone.telemetry.status_text():
diff --git a/examples/telemetry_takeoff_and_land.py b/examples/telemetry_takeoff_and_land.py
index e68daeaf..6a2290f6 100755
--- a/examples/telemetry_takeoff_and_land.py
+++ b/examples/telemetry_takeoff_and_land.py
@@ -31,7 +31,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     # Start parallel tasks
diff --git a/examples/transponder.py b/examples/transponder.py
index a1d454f7..d7e5fbc3 100755
--- a/examples/transponder.py
+++ b/examples/transponder.py
@@ -10,7 +10,7 @@ async def run():
     await drone.connect()
 
     # Start the tasks
-    asyncio.ensure_future(print_transponders(drone))
+    _tasks = {asyncio.create_task(print_transponders(drone))}
 
     # Runs the event loop until the program is canceled with e.g. CTRL-C
     while True:
diff --git a/examples/tune.py b/examples/tune.py
index 093dd886..89cacdf5 100755
--- a/examples/tune.py
+++ b/examples/tune.py
@@ -2,7 +2,7 @@
 
 import asyncio
 from mavsdk import System
-from mavsdk.tune import SongElement, TuneDescription, TuneError
+from mavsdk.tune import SongElement, TuneDescription
 
 
 async def run():
@@ -12,7 +12,7 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
     song_elements = []
diff --git a/examples/upload_params.py b/examples/upload_params.py
index eab79708..ba33d103 100755
--- a/examples/upload_params.py
+++ b/examples/upload_params.py
@@ -2,18 +2,15 @@
 
 import asyncio
 import argparse
+import anyio
 from mavsdk import System
 from tqdm import tqdm
 
 
 def main():
     parser = argparse.ArgumentParser()
-    parser.add_argument(
-        "connection", help="Connection string (e.g. udpin://0.0.0.0:14540)"
-    )
-    parser.add_argument(
-        "param_file", help="Param file to be uploaded with .params format"
-    )
+    parser.add_argument("connection", help="Connection string (e.g. udpin://0.0.0.0:14540)")
+    parser.add_argument("param_file", help="Param file to be uploaded with .params format")
 
     args = parser.parse_args()
 
@@ -39,18 +36,20 @@ async def set_params(args):
         else:
             break
 
-    with open(args.param_file, "r") as param_file:
+    async with await anyio.open_file(args.param_file, "r") as param_file:
         print("Uploading Parameters... Please do not arm the vehicle!")
-        for line in tqdm(param_file, unit="lines"):
+        contents = await param_file.read()
+        lines = contents.splitlines()
+        for line in tqdm(lines, unit="lines"):
             if line.startswith("#"):
                 continue
 
             columns = line.strip().split("\t")
-            vehicle_id = columns[0]
-            component_id = columns[1]
+            _vehicle_id = columns[0]
+            _component_id = columns[1]
             name = columns[2]
             value = columns[3]
-            type = columns[4]
+            _type = columns[4]
             if name in int_param_names:
                 await drone.param.set_param_int(name, int(value))
             elif name in float_param_names:
diff --git a/examples/winch.py b/examples/winch.py
index b655b949..5e40ec9d 100644
--- a/examples/winch.py
+++ b/examples/winch.py
@@ -11,10 +11,10 @@ async def run():
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
         if state.is_connected:
-            print(f"-- Connected to drone!")
+            print("-- Connected to drone!")
             break
 
-    print(f"-- Winch action: load payload")
+    print("-- Winch action: load payload")
     await drone.winch.load_payload(instance=1)
 
     while True:
diff --git a/mavsdk/__init__.py b/mavsdk/__init__.py
index 726b17f4..d8b9bb86 100644
--- a/mavsdk/__init__.py
+++ b/mavsdk/__init__.py
@@ -15,7 +15,7 @@
 # Do asyncio specific initialization
 try:
     # Try to import uvloop, provides _MUCH_ better performance compared to the
-    # standart unix selector event loop
+    # standard unix selector event loop
     import uvloop
 
     asyncio.set_event_loop_policy(uvloop.EventLoopPolicy())
diff --git a/other/docker/testing/Dockerfile b/other/docker/testing/Dockerfile
index 6b1a79c1..a7b2aba5 100644
--- a/other/docker/testing/Dockerfile
+++ b/other/docker/testing/Dockerfile
@@ -1,6 +1,6 @@
 FROM ubuntu:18.04
 
-# Prefere local python binaries over the distributed ones
+# Prefer local python binaries over the distributed ones
 ENV PATH /usr/local/bin:$PATH
 
 # Needed for Python 3
diff --git a/setup.cfg b/setup.cfg
index 49b8f1df..890ce7ac 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -3,3 +3,6 @@ license_file = LICENSE.txt
 
 [bdist_wheel]
 universal=0
+
+[codespell]
+ignore-words-list = NED,PositionNed