AP_NavEKF3: Formatting and comment fixes

libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp

@@ -452,7 +452,7 @@ void NavEKF3_core::FuseSideslip()
 /*
  * Fuse X and Y body axis specific forces using explicit algebraic equations generated with SymPy.
  * See AP_NavEKF3/derivation/main.py for derivation
- * Output for change reference: AP_NavEKF3/derivation/generated/acc_bf_generarted.cpp
+ * Output for change reference: AP_NavEKF3/derivation/generated/acc_bf_generated.cpp
 */
 void NavEKF3_core::FuseDragForces()
 {

libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp

@@ -1368,11 +1368,11 @@ void NavEKF3_core::SampleDragData(const imu_elements &imu)
     const bool using_bcoef_x = bcoef_x > 1.0f;
     const bool using_bcoef_y = bcoef_y > 1.0f;
     const bool using_mcoef = mcoef > 0.001f;
-	if (!using_bcoef_x && !using_bcoef_y && !using_mcoef) {
+    if (!using_bcoef_x && !using_bcoef_y && !using_mcoef) {
         // nothing to do
         dragFusionEnabled = false;
-		return;
-	}
+        return;
+    }
 
     dragFusionEnabled = true;
 

libraries/AP_NavEKF3/AP_NavEKF3_core.h

@@ -1271,7 +1271,7 @@ private:
     drag_elements dragSampleDelayed;
 	drag_elements dragDownSampled;	    // down sampled from filter prediction rate to observation rate
 	uint8_t dragSampleCount;	        // number of drag specific force samples accumulated at the filter prediction rate
-	float dragSampleTimeDelta;	        // time integral across all samples used to form _drag_down_sampled (sec)
+    float dragSampleTimeDelta;	        // time integral across all samples used to form _drag_down_sampled (sec)
     Vector2f innovDrag;		            // multirotor drag measurement innovation (m/sec**2)
 	Vector2f innovDragVar;	            // multirotor drag measurement innovation variance ((m/sec**2)**2)
 	Vector2f dragTestRatio;		        // drag innovation consistency check ratio