diff --git a/EKF/common.h b/EKF/common.h
index 955319c962..3fbcaaa618 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -144,8 +144,8 @@ struct parameters {
 	float mag_declination_deg;  // magnetic declination in degrees
 	float heading_innov_gate;   // heading fusion innovation consistency gate size in standard deviations
 	float mag_innov_gate;       // magnetometer fusion innovation consistency gate size in standard deviations
-    int mag_declination_source; // bitmask used to control the handling of declination data
-    int mag_fusion_type;        // integer used to specify the type of magnetometer fusion used
+	int mag_declination_source; // bitmask used to control the handling of declination data
+	int mag_fusion_type;        // integer used to specify the type of magnetometer fusion used
 
 	// these parameters control the strictness of GPS quality checks used to determine uf the GPS is
 	// good enough to set a local origin and commence aiding
diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
index 10add1e56e..a596dbde2d 100644
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@@ -42,21 +42,21 @@
 #include "ekf.h"
 
 Ekf::Ekf():
-    _filter_initialised(false),
-    _earth_rate_initialised(false),
-    _fuse_height(false),
-    _fuse_pos(false),
-    _fuse_hor_vel(false),
-    _fuse_vert_vel(false),
-    _time_last_fake_gps(0),
-    _time_last_pos_fuse(0),
-    _time_last_vel_fuse(0),
-    _time_last_hgt_fuse(0),
-    _time_last_of_fuse(0),
-    _last_disarmed_posD(0.0f),
+	_filter_initialised(false),
+	_earth_rate_initialised(false),
+	_fuse_height(false),
+	_fuse_pos(false),
+	_fuse_hor_vel(false),
+	_fuse_vert_vel(false),
+	_time_last_fake_gps(0),
+	_time_last_pos_fuse(0),
+	_time_last_vel_fuse(0),
+	_time_last_hgt_fuse(0),
+	_time_last_of_fuse(0),
+	_last_disarmed_posD(0.0f),
 	_heading_innov(0.0f),
 	_heading_innov_var(0.0f),
-    _mag_declination(0.0f),
+	_mag_declination(0.0f),
 	_gpsDriftVelN(0.0f),
 	_gpsDriftVelE(0.0f),
 	_gps_drift_velD(0.0f),
@@ -69,25 +69,25 @@ Ekf::Ekf():
 	_baro_counter(0),
 	_baro_sum(0.0f),
 	_mag_counter(0),
-    _baro_at_alignment(0.0f)
+	_baro_at_alignment(0.0f)
 {
-    _control_status = {};
-    _control_status_prev = {};
-    _state = {};
-    _last_known_posNE.setZero();
-    _earth_rate_NED.setZero();
-    _R_prev = matrix::Dcm<float>();
-    _vel_pos_innov = {};
-    _mag_innov = {};
-    _vel_pos_innov_var = {};
-    _mag_innov_var = {};
+	_control_status = {};
+	_control_status_prev = {};
+	_state = {};
+	_last_known_posNE.setZero();
+	_earth_rate_NED.setZero();
+	_R_prev = matrix::Dcm<float>();
+	_vel_pos_innov = {};
+	_mag_innov = {};
+	_vel_pos_innov_var = {};
+	_mag_innov_var = {};
 	_delta_angle_corr.setZero();
 	_delta_vel_corr.setZero();
 	_vel_corr.setZero();
-    _imu_down_sampled = {};
-    _q_down_sampled.setZero();
-    _mag_sum = {};
-    _delVel_sum = {};
+	_imu_down_sampled = {};
+	_q_down_sampled.setZero();
+	_mag_sum = {};
+	_delVel_sum = {};
 }
 
 Ekf::~Ekf()
diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h
index ace2b3d974..3ddf44890a 100644
--- a/EKF/estimator_interface.h
+++ b/EKF/estimator_interface.h
@@ -192,7 +192,7 @@ protected:
 	bool _imu_updated;      // true if the ekf should update (completed downsampling process)
 	bool _initialised;      // true if the ekf interface instance (data buffering) is initialized
 	bool _vehicle_armed;    // vehicle arm status used to turn off functionality used on the ground
-    bool _in_air;           // we assume vehicle is in the air, set by the given landing detector
+	bool _in_air;           // we assume vehicle is in the air, set by the given landing detector
 
 	bool _NED_origin_initialised;
 	bool _gps_speed_valid;