diff --git a/ArduCopter/control_poshold.pde b/ArduCopter/control_poshold.pde
index 426d9acc21..cbb00e966f 100644
--- a/ArduCopter/control_poshold.pde
+++ b/ArduCopter/control_poshold.pde
@@ -7,21 +7,21 @@
  *     PosHold tries to improve upon regular loiter by mixing the pilot input with the loiter controller
  */
 
-#define POSHOLD_SPEED_0                          10      // speed below which it is always safe to switch to loiter
-
- // 400hz loop update rate
- # define POSHOLD_BRAKE_TIME_ESTIMATE_MAX        (600*4) // max number of cycles the brake will be applied before we switch to loiter
- # define POSHOLD_BRAKE_TO_LOITER_TIMER          (150*4) // Number of cycles to transition from brake mode to loiter mode.  Must be lower than POSHOLD_LOITER_STAB_TIMER
- # define POSHOLD_WIND_COMP_START_TIMER          (150*4) // Number of cycles to start wind compensation update after loiter is engaged
- # define POSHOLD_CONTROLLER_TO_PILOT_MIX_TIMER  (50*4)  // Set it from 100 to 200, the number of centiseconds loiter and manual commands are mixed to make a smooth transition.
- # define POSHOLD_SMOOTH_RATE_FACTOR             0.0125f // filter applied to pilot's roll/pitch input as it returns to center.  A lower number will cause the roll/pitch to return to zero more slowly if the brake_rate is also low.
- # define POSHOLD_WIND_COMP_TIMER_10HZ           40      // counter value used to reduce wind compensation to 10hz
- # define LOOP_RATE_FACTOR                       4       // used to adapt PosHold params to loop_rate
- # define TC_WIND_COMP                          0.0025f // Time constant for poshold_update_wind_comp_estimate()
+#define POSHOLD_SPEED_0                         10      // speed below which it is always safe to switch to loiter
+
+// 400hz loop update rate
+#define POSHOLD_BRAKE_TIME_ESTIMATE_MAX         (600*4) // max number of cycles the brake will be applied before we switch to loiter
+#define POSHOLD_BRAKE_TO_LOITER_TIMER           (150*4) // Number of cycles to transition from brake mode to loiter mode.  Must be lower than POSHOLD_LOITER_STAB_TIMER
+#define POSHOLD_WIND_COMP_START_TIMER           (150*4) // Number of cycles to start wind compensation update after loiter is engaged
+#define POSHOLD_CONTROLLER_TO_PILOT_MIX_TIMER   (50*4)  // Set it from 100 to 200, the number of centiseconds loiter and manual commands are mixed to make a smooth transition.
+#define POSHOLD_SMOOTH_RATE_FACTOR              0.0125f // filter applied to pilot's roll/pitch input as it returns to center.  A lower number will cause the roll/pitch to return to zero more slowly if the brake_rate is also low.
+#define POSHOLD_WIND_COMP_TIMER_10HZ            40      // counter value used to reduce wind compensation to 10hz
+#define LOOP_RATE_FACTOR                        4       // used to adapt PosHold params to loop_rate
+#define TC_WIND_COMP                            0.0025f // Time constant for poshold_update_wind_comp_estimate()
 
 // definitions that are independent of main loop rate
-#define POSHOLD_STICK_RELEASE_SMOOTH_ANGLE       1800    // max angle required (in centi-degrees) after which the smooth stick release effect is applied
-#define POSHOLD_WIND_COMP_ESTIMATE_SPEED_MAX     10      // wind compensation estimates will only run when velocity is at or below this speed in cm/s
+#define POSHOLD_STICK_RELEASE_SMOOTH_ANGLE      1800    // max angle required (in centi-degrees) after which the smooth stick release effect is applied
+#define POSHOLD_WIND_COMP_ESTIMATE_SPEED_MAX    10      // wind compensation estimates will only run when velocity is at or below this speed in cm/s
 
 // declare some function to keep compiler happy
 static void poshold_update_pilot_lean_angle(float &lean_angle_filtered, float &lean_angle_raw);