diff --git a/src/modules/local_position_estimator/sensors/baro.cpp b/src/modules/local_position_estimator/sensors/baro.cpp
index 1f30fe98aa..c41bfed60c 100644
--- a/src/modules/local_position_estimator/sensors/baro.cpp
+++ b/src/modules/local_position_estimator/sensors/baro.cpp
@@ -78,8 +78,9 @@ void BlockLocalPositionEstimator::baroCorrect()
 		if (_baroFault < FAULT_MINOR) {
 			if (beta > 2.0f * BETA_TABLE[n_y_baro]) {
 				mavlink_and_console_log_critical(&mavlink_log_pub, "[lpe] baro fault, r %5.2f m, beta %5.2f",
-						     double(r(0)), double(beta));
+								 double(r(0)), double(beta));
 			}
+
 			_baroFault = FAULT_MINOR;
 		}
 
diff --git a/src/modules/local_position_estimator/sensors/gps.cpp b/src/modules/local_position_estimator/sensors/gps.cpp
index 4056c16bff..ff331072be 100644
--- a/src/modules/local_position_estimator/sensors/gps.cpp
+++ b/src/modules/local_position_estimator/sensors/gps.cpp
@@ -47,10 +47,10 @@ void BlockLocalPositionEstimator::gpsInit()
 
 		_gpsAltOrigin = _gpsStats.getMean()(2);
 		PX4_INFO("[lpe] gps init "
-					     "lat %6.2f lon %6.2f alt %5.1f m",
-					     gpsLatOrigin,
-					     gpsLonOrigin,
-					     double(_gpsAltOrigin));
+			 "lat %6.2f lon %6.2f alt %5.1f m",
+			 gpsLatOrigin,
+			 gpsLonOrigin,
+			 double(_gpsAltOrigin));
 		_gpsInitialized = true;
 		_gpsFault = FAULT_NONE;
 		_gpsStats.reset();
@@ -177,9 +177,10 @@ void BlockLocalPositionEstimator::gpsCorrect()
 		if (_gpsFault < FAULT_MINOR) {
 			if (beta > 2.0f * BETA_TABLE[n_y_gps]) {
 				mavlink_and_console_log_critical(&mavlink_log_pub, "[lpe] gps fault %3g %3g %3g %3g %3g %3g",
-							     double(r(0)*r(0) / S_I(0, 0)),  double(r(1)*r(1) / S_I(1, 1)), double(r(2)*r(2) / S_I(2, 2)),
-							     double(r(3)*r(3) / S_I(3, 3)),  double(r(4)*r(4) / S_I(4, 4)), double(r(5)*r(5) / S_I(5, 5)));
+								 double(r(0)*r(0) / S_I(0, 0)),  double(r(1)*r(1) / S_I(1, 1)), double(r(2)*r(2) / S_I(2, 2)),
+								 double(r(3)*r(3) / S_I(3, 3)),  double(r(4)*r(4) / S_I(4, 4)), double(r(5)*r(5) / S_I(5, 5)));
 			}
+
 			_gpsFault = FAULT_MINOR;
 		}
 
diff --git a/src/modules/local_position_estimator/sensors/sonar.cpp b/src/modules/local_position_estimator/sensors/sonar.cpp
index fdb8d8f0a5..c03015a53a 100644
--- a/src/modules/local_position_estimator/sensors/sonar.cpp
+++ b/src/modules/local_position_estimator/sensors/sonar.cpp
@@ -35,9 +35,9 @@ void BlockLocalPositionEstimator::sonarInit()
 
 		} else {
 			PX4_INFO("[lpe] sonar init "
-						     "mean %d cm std %d cm",
-						     int(100 * _sonarStats.getMean()(0)),
-						     int(100 * _sonarStats.getStdDev()(0)));
+				 "mean %d cm std %d cm",
+				 int(100 * _sonarStats.getMean()(0)),
+				 int(100 * _sonarStats.getStdDev()(0)));
 			_sonarInitialized = true;
 			_sonarFault = FAULT_NONE;
 		}