diff --git a/src/drivers/boards/px4fmu-v4pro/board_config.h b/src/drivers/boards/px4fmu-v4pro/board_config.h
index 3d48055cc2..7a08d72609 100644
--- a/src/drivers/boards/px4fmu-v4pro/board_config.h
+++ b/src/drivers/boards/px4fmu-v4pro/board_config.h
@@ -95,9 +95,9 @@ __BEGIN_DECLS
 
 /* SPI Bus 1 Internal Sensors */
 
-#define GPIO_SPI_CS_MPU9250			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
-#define GPIO_SPI_CS_LIS3MDL			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
-#define GPIO_SPI_CS_MS5611			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
+#define GPIO_SPI_CS_MPU9250		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
+#define GPIO_SPI_CS_LIS3MDL		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
+#define GPIO_SPI_CS_MS5611		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
 #define GPIO_SPI_CS_ICM_20608_G		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
 #define GPIO_SPI_CS_TEMPCAL_EEPROM	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
 
@@ -134,10 +134,10 @@ __BEGIN_DECLS
 
 #define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
 
-#define GPIO_SPI_CS_OFF_MPU9250			_PIN_OFF(GPIO_SPI_CS_MPU9250)
-#define GPIO_SPI_CS_OFF_LIS3MDL			_PIN_OFF(GPIO_SPI_CS_LIS3MDL)
-#define GPIO_SPI_CS_OFF_MS5611			_PIN_OFF(GPIO_SPI_CS_MS5611)
-#define GPIO_SPI_CS_OFF_ICM_20608_G		_PIN_OFF(GPIO_SPI_CS_ICM_20608_G)
+#define GPIO_SPI_CS_OFF_MPU9250		_PIN_OFF(GPIO_SPI_CS_MPU9250)
+#define GPIO_SPI_CS_OFF_LIS3MDL		_PIN_OFF(GPIO_SPI_CS_LIS3MDL)
+#define GPIO_SPI_CS_OFF_MS5611		_PIN_OFF(GPIO_SPI_CS_MS5611)
+#define GPIO_SPI_CS_OFF_ICM_20608_G	_PIN_OFF(GPIO_SPI_CS_ICM_20608_G)
 #define GPIO_SPI_CS_OFF_TEMPCAL_EEPROM	_PIN_OFF(GPIO_SPI_CS_OFF_TEMPCAL_EEPROM)
 
 #define GPIO_DRDY_OFF_MPU9250       _PIN_OFF(GPIO_DRDY_MPU9250)
@@ -170,7 +170,7 @@ __BEGIN_DECLS
 #define PX4_SPIDEV_BMA          9
 #define PX4_SPIDEV_EXT0         10
 #define PX4_SPIDEV_EXT1         11
-#define PX4_SPIDEV_EEPROM		12
+#define PX4_SPIDEV_EEPROM	12
 
 
 /* I2C busses */
@@ -194,12 +194,12 @@ __BEGIN_DECLS
 #define ADC_CHANNELS (1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14)
 
 // ADC defines to be used in sensors.cpp to read from a particular channel
-#define ADC_BATTERY_VOLTAGE_CHANNEL		2
-#define ADC_BATTERY_CURRENT_CHANNEL		3
-#define ADC_5V_RAIL_SENSE				4
+#define ADC_BATTERY_VOLTAGE_CHANNEL	2
+#define ADC_BATTERY_CURRENT_CHANNEL	3
+#define ADC_5V_RAIL_SENSE		4
 #define ADC_BATTERY2_VOLTAGE_CHANNEL	11
 #define ADC_BATTERY2_CURRENT_CHANNEL	13
-//#define ADC_RC_RSSI_CHANNEL				11
+//#define ADC_RC_RSSI_CHANNEL		11
 
 /* Define Battery 1 Voltage Divider and A per V
  */
@@ -239,13 +239,13 @@ __BEGIN_DECLS
 #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_PERIPH_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN4)
 #define GPIO_VDD_5V_HIPOWER_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN3)
-#define GPIO_VBUS_VALID			(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
+#define GPIO_VBUS_VALID		(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
 
 /* Tone alarm output */
-#define TONE_ALARM_TIMER		2	/* timer 2 */
-#define TONE_ALARM_CHANNEL		1	/* channel 1 */
+#define TONE_ALARM_TIMER	2	/* timer 2 */
+#define TONE_ALARM_CHANNEL	1	/* channel 1 */
 #define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
-#define GPIO_TONE_ALARM			(GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
+#define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
 
 /* PWM
  *
@@ -293,7 +293,7 @@ __BEGIN_DECLS
 
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
 #define PWMIN_TIMER			4
-#define PWMIN_TIMER_CHANNEL	2
+#define PWMIN_TIMER_CHANNEL		2
 #define GPIO_PWM_IN			GPIO_TIM4_CH2IN_2
 
 #define GPIO_RSSI_IN 			(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
@@ -309,7 +309,7 @@ __BEGIN_DECLS
 
 /* Power switch controls ******************************************************/
 
-#define POWER_SPEKTRUM(_s)			px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (1-_s))
+#define POWER_SPEKTRUM(_s)		px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (1-_s))
 #define SPEKTRUM_RX_AS_UART()		px4_arch_configgpio(GPIO_USART1_RX)
 
 // FMUv4-pro has a separate GPIO for serial RC output
diff --git a/src/drivers/boards/px4fmu-v4pro/px4fmu_init.c b/src/drivers/boards/px4fmu-v4pro/px4fmu_init.c
index 08a6efc426..e73d387ec5 100644
--- a/src/drivers/boards/px4fmu-v4pro/px4fmu_init.c
+++ b/src/drivers/boards/px4fmu-v4pro/px4fmu_init.c
@@ -131,7 +131,7 @@ __END_DECLS
 __EXPORT void board_peripheral_reset(int ms)
 {
 	/* set the peripheral and sensor rails off */
-	stm32_gpiowrite(GPIO_VDD_3V3_PERIPH_EN, 0);	
+	stm32_gpiowrite(GPIO_VDD_3V3_PERIPH_EN, 0);
 	stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
 	stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 1);
 
@@ -174,16 +174,16 @@ stm32_boardinitialize(void)
 	stm32_configgpio(GPIO_ADC1_IN3);	/* BATT_CURRENT_SENS */
 	stm32_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
 	stm32_configgpio(GPIO_ADC1_IN11);	/* BATT2_VOLTAGE_SENS */
-	stm32_configgpio(GPIO_ADC1_IN13);	/* BATT2_CURRENT_SENS */	
+	stm32_configgpio(GPIO_ADC1_IN13);	/* BATT2_CURRENT_SENS */
 
 	/* configure power supply control/sense pins */
 	stm32_configgpio(GPIO_VDD_3V3_PERIPH_EN);
 	stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
 	stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
-	
+
 	stm32_configgpio(GPIO_VDD_BRICK_VALID);
 	stm32_configgpio(GPIO_VDD_BRICK2_VALID);
-	
+
 	stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
 	stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
 	stm32_configgpio(GPIO_VBUS_VALID);
diff --git a/src/drivers/boards/px4fmu-v4pro/px4fmu_spi.c b/src/drivers/boards/px4fmu-v4pro/px4fmu_spi.c
index 7bfc850e2b..4293a6ee7c 100644
--- a/src/drivers/boards/px4fmu-v4pro/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmu-v4pro/px4fmu_spi.c
@@ -135,7 +135,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		stm32_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_TEMPCAL_EEPROM, 1);
 		break;
-		
+
 	case PX4_SPIDEV_EEPROM:
 		/* Making sure the other peripherals are not selected */
 		stm32_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
@@ -143,7 +143,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_TEMPCAL_EEPROM, !selected);
-		break;		
+		break;
 
 	default:
 		break;
@@ -225,7 +225,7 @@ __EXPORT void board_spi_reset(int ms)
 	stm32_gpiowrite(GPIO_SPI_CS_OFF_MS5611, 0);
 	stm32_gpiowrite(GPIO_SPI_CS_OFF_ICM_20608_G, 0);
 	stm32_gpiowrite(GPIO_SPI_CS_TEMPCAL_EEPROM, 0);
-	
+
 	stm32_configgpio(GPIO_SPI1_SCK_OFF);
 	stm32_configgpio(GPIO_SPI1_MISO_OFF);
 	stm32_configgpio(GPIO_SPI1_MOSI_OFF);
diff --git a/src/drivers/lis3mdl/lis3mdl.cpp b/src/drivers/lis3mdl/lis3mdl.cpp
index 2cc0194ebc..fe7d365e5e 100644
--- a/src/drivers/lis3mdl/lis3mdl.cpp
+++ b/src/drivers/lis3mdl/lis3mdl.cpp
@@ -132,7 +132,7 @@ public:
 	 * Stop the automatic measurement state machine.
 	 */
 	void			stop();
-	
+
 	/**
 	 * Diagnostics - print some basic information about the driver.
 	 */
@@ -814,8 +814,8 @@ LIS3MDL::cycle()
 {
 	if (_measure_ticks == 0) {
 		return;
-	}	
-	
+	}
+
 	/* collection phase? */
 	if (_collect_phase) {
 
@@ -853,7 +853,7 @@ LIS3MDL::cycle()
 
 	/* next phase is collection */
 	_collect_phase = true;
-		   
+
 	if (_measure_ticks > 0) {
 		/* schedule a fresh cycle call when the measurement is done */
 		work_queue(HPWORK,
@@ -861,7 +861,7 @@ LIS3MDL::cycle()
 			   (worker_t)&LIS3MDL::cycle_trampoline,
 			   this,
 			   USEC2TICK(LIS3MDL_CONVERSION_INTERVAL));
-	}		   
+	}
 }
 
 int
@@ -951,8 +951,8 @@ LIS3MDL::collect()
 
 	/* the LIS3MDL mag on Pixhawk Pro by Drotek has x pointing towards,
 	 * y pointing to the right, and z down, therefore no switch needed,
-	 * it is better to have no artificial rotation inside the 
-	 * driver and then use the startup script with -R command with the 
+	 * it is better to have no artificial rotation inside the
+	 * driver and then use the startup script with -R command with the
 	 * real rotation between the sensor and body frame */
 	xraw_f = report.x;
 	yraw_f = report.y;
@@ -1029,7 +1029,7 @@ int LIS3MDL::calibrate(struct file *filp, unsigned enable)
 	}
 
 	usleep(20000);
-	
+
 	// discard 10 samples to let the sensor settle
 	for (uint8_t i = 0; i < 10; i++) {
 		struct pollfd fds;
@@ -1079,14 +1079,14 @@ int LIS3MDL::calibrate(struct file *filp, unsigned enable)
 
 		sum_non_excited[0] += report.x;
 		sum_non_excited[1] += report.y;
-		sum_non_excited[2] += report.z;	
+		sum_non_excited[2] += report.z;
 	}
-	
+
 	sum_non_excited[0] /= 10.0f;
 	sum_non_excited[1] /= 10.0f;
 	sum_non_excited[2] /= 10.0f;
-	
-	
+
+
 	if (OK != ioctl(filp, MAGIOCEXSTRAP, 1)) {
 		warnx("FAILED: MAGIOCEXSTRAP 1");
 		ret = 1;
@@ -1094,7 +1094,7 @@ int LIS3MDL::calibrate(struct file *filp, unsigned enable)
 	}
 
 	usleep(60000);
-	
+
 	// discard 10 samples to let the sensor settle
 	for (uint8_t i = 0; i < 10; i++) {
 		struct pollfd fds;
@@ -1144,20 +1144,19 @@ int LIS3MDL::calibrate(struct file *filp, unsigned enable)
 
 		sum_excited[0] += report.x;
 		sum_excited[1] += report.y;
-		sum_excited[2] += report.z;	
+		sum_excited[2] += report.z;
 	}
-	
+
 	sum_excited[0] /= 10.0f;
 	sum_excited[1] /= 10.0f;
-	sum_excited[2] /= 10.0f;	
+	sum_excited[2] /= 10.0f;
 
 	if (1.0f < fabsf(sum_excited[0] - sum_non_excited[0]) && fabsf(sum_excited[0] - sum_non_excited[0]) < 3.0f &&
-		1.0f < fabsf(sum_excited[1] - sum_non_excited[1]) && fabsf(sum_excited[1] - sum_non_excited[1]) < 3.0f &&
-		0.1f < fabsf(sum_excited[2] - sum_non_excited[2]) && fabsf(sum_excited[2] - sum_non_excited[2]) < 1.0f){
-		ret = OK;	
-	}
-	else
-	{
+	    1.0f < fabsf(sum_excited[1] - sum_non_excited[1]) && fabsf(sum_excited[1] - sum_non_excited[1]) < 3.0f &&
+	    0.1f < fabsf(sum_excited[2] - sum_non_excited[2]) && fabsf(sum_excited[2] - sum_non_excited[2]) < 1.0f) {
+		ret = OK;
+
+	} else {
 		ret = -EIO;
 		goto out;
 	}
@@ -1171,7 +1170,7 @@ out:
 	if (OK != ::ioctl(fd, MAGIOCSRANGE, 4)) {
 		warnx("FAILED: MAGIOCSRANGE 4 Ga");
 	}
-	
+
 	if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) {
 		warnx("FAILED: MAGIOCEXSTRAP 0");
 	}
@@ -1552,7 +1551,7 @@ test(enum LIS3MDL_BUS busid)
 /**
  * Self test check.
  *
- * Unlike HMC5883, self test feature cannot be used to calculate 
+ * Unlike HMC5883, self test feature cannot be used to calculate
  * scale.
  *
  * SELF TEST OPERATION
@@ -1561,7 +1560,7 @@ test(enum LIS3MDL_BUS busid)
  * (bias field) to be measured. To implement self test, the least significant bits
  * (MS1 and MS0) of configuration register A are changed from 00 to 01 (positive bias).
  * A few measurements are taken and stored with and without the additional magnetic
- * field. According to ST datasheet, those values must stay between thresholds in order 
+ * field. According to ST datasheet, those values must stay between thresholds in order
  * to pass the self test.
  */
 int calibrate(enum LIS3MDL_BUS busid)
@@ -1694,11 +1693,11 @@ lis3mdl_main(int argc, char *argv[])
 
 	/*
 	 * Stop the driver.
-	 */	
+	 */
 	if (!strcmp(verb, "stop")) {
 		return lis3mdl::stop();
 	}
-	
+
 	/*
 	 * Test the driver/device.
 	 */