diff --git a/EKF/common.h b/EKF/common.h
index c8fed865b3..c93d440b17 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -67,10 +67,10 @@ typedef matrix::Quaternion<float> Quaternion;
 typedef matrix::Matrix<float, 3, 3> Matrix3f;
 
 struct outputSample {
-    Quaternion  quat_nominal;	// nominal quaternion describing vehicle attitude
-    Vector3f    vel;	// NED velocity estimate in earth frame in m/s
-    Vector3f    pos;	// NED position estimate in earth frame in m/s
-    uint64_t 	time_us;	// timestamp in microseconds
+	Quaternion  quat_nominal;	// nominal quaternion describing vehicle attitude
+	Vector3f    vel;	// NED velocity estimate in earth frame in m/s
+	Vector3f    pos;	// NED position estimate in earth frame in m/s
+	uint64_t 	time_us;	// timestamp in microseconds
 };
 
 struct imuSample {
diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
index d6f8241982..c7d65ac6e0 100644
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@@ -83,7 +83,7 @@ Ekf::Ekf():
 	_mag_innov_var = {};
 	_delta_angle_corr.setZero();
 	_delta_vel_corr.setZero();
-    _last_known_posNE.setZero();
+	_last_known_posNE.setZero();
 	_vel_corr.setZero();
 	_imu_down_sampled = {};
 	_q_down_sampled.setZero();