diff --git a/.github/workflows/test.yaml b/.github/workflows/test-pr.yaml
similarity index 69%
rename from .github/workflows/test.yaml
rename to .github/workflows/test-pr.yaml
index c7e43b0..133cb91 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test-pr.yaml
@@ -1,12 +1,14 @@
 name: Code Formatter
 on:
-  push:
+  pull_request:
 jobs:
   clang-format:
       runs-on: ubuntu-latest
       steps:
       - uses: actions/checkout@v2
       - uses: ./
+        with:
+          branch: ${{ github.event.pull_request.head.ref }}
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
diff --git a/action.yml b/action.yml
index 1b6ce58..f2ca39c 100644
--- a/action.yml
+++ b/action.yml
@@ -18,6 +18,10 @@ inputs:
     description: 'The commit message used when changes need to be committed'
     required: false
     default: 'style: Applied ROS C++ Style Guide'
+  branch:
+    description: 'The branch the changes will be committed.'
+    required: false
+    default: 'None'
 runs:
   using: 'docker'
   image: 'Dockerfile'
@@ -25,3 +29,4 @@ runs:
     - ${{ inputs.author-name }}
     - ${{ inputs.author-email }}
     - ${{ inputs.commit-message }}
+    - ${{ inputs.branch }}
diff --git a/entrypoint.sh b/entrypoint.sh
index b363d5f..8875545 100755
--- a/entrypoint.sh
+++ b/entrypoint.sh
@@ -4,6 +4,7 @@
 name=$1
 email=$2
 message=$3
+branch=$4
 
 apt-get update
 apt-get install -y curl
@@ -47,9 +48,14 @@ if [[ $? == 0 ]] ;then
 
   git config --global user.email "$email"
   git config --global user.name "$name"
-  git config --global push.default current
+  if [[ $branch == "None" ]];then
+    branch=$(git rev-parse --abbrev-ref HEAD)
+  fi
   git commit -a -m "$message"
-  git push
+  
+  echo "Pushing to $GITHUB_REF"
+
+  git push origin HEAD:"$GITHUB_REF"
 else
   echo "No changes to commit"
 fi
diff --git a/test/dji_sdk_node.cpp b/test/dji_sdk_node.cpp
index 51fcd60..450f14b 100644
--- a/test/dji_sdk_node.cpp
+++ b/test/dji_sdk_node.cpp
@@ -17,8 +17,7 @@ DJISDKNode::DJISDKNode(ros::NodeHandle& nh, ros::NodeHandle& nh_private)
   : telemetry_from_fc(USE_BROADCAST)
   , R_FLU2FRD(tf::Matrix3x3(1, 0, 0, 0, -1, 0, 0, 0, -1))
   , R_ENU2NED(tf::Matrix3x3(0, 1, 0, 1, 0, 0, 0, 0, -1))
-  , curr_align_state(UNALIGNED)
-{
+  , curr_align_state(UNALIGNED){
   nh_private.param("serial_name", serial_device, std::string("/dev/ttyUSB0"));
   nh_private.param("baud_rate", baud_rate, 921600);
   nh_private.param("app_id", app_id, 123456);
@@ -41,7 +40,7 @@ DJISDKNode::DJISDKNode(ros::NodeHandle& nh, ros::NodeHandle& nh_private)
   // @todo need some error handling for init functions
   //! @note parsing launch file to get environment parameters
   if (!initVehicle(nh_private))
-  {
+{
     ROS_ERROR("Vehicle initialization failed");
   }