diff --git a/libraries/AP_Math/matrix3.cpp b/libraries/AP_Math/matrix3.cpp
index 09591ba5f9..e22ac68c8b 100644
--- a/libraries/AP_Math/matrix3.cpp
+++ b/libraries/AP_Math/matrix3.cpp
@@ -21,7 +21,7 @@
 
 #define HALF_SQRT_2 0.70710678118654757
 
-#define MATRIX_ROTATION_NONE               Matrix3f(1, 0, 0, 0, 1, 0, 0 ,0, 1)
+#define MATRIX_ROTATION_NONE               Matrix3f(1, 0, 0, 0, 1, 0, 0,0, 1)
 #define MATRIX_ROTATION_YAW_45             Matrix3f(HALF_SQRT_2, -HALF_SQRT_2, 0, HALF_SQRT_2, HALF_SQRT_2, 0, 0, 0, 1)
 #define MATRIX_ROTATION_YAW_90             Matrix3f(0, -1, 0, 1, 0, 0, 0, 0, 1)
 #define MATRIX_ROTATION_YAW_135            Matrix3f(-HALF_SQRT_2, -HALF_SQRT_2, 0, HALF_SQRT_2, -HALF_SQRT_2, 0, 0, 0, 1)
@@ -45,53 +45,53 @@ void Matrix3<T>::rotation(enum Rotation r)
     switch (r) {
     case ROTATION_NONE:
     case ROTATION_MAX:
-	    *this = MATRIX_ROTATION_NONE;
-	    break;
+        *this = MATRIX_ROTATION_NONE;
+        break;
     case ROTATION_YAW_45:
-	    *this = MATRIX_ROTATION_YAW_45;
-	    break;
+        *this = MATRIX_ROTATION_YAW_45;
+        break;
     case ROTATION_YAW_90:
-	    *this = MATRIX_ROTATION_YAW_90;
-	    break;
+        *this = MATRIX_ROTATION_YAW_90;
+        break;
     case ROTATION_YAW_135:
-	    *this = MATRIX_ROTATION_YAW_135;
-	    break;
+        *this = MATRIX_ROTATION_YAW_135;
+        break;
     case ROTATION_YAW_180:
-	    *this = MATRIX_ROTATION_YAW_180;
-	    break;
+        *this = MATRIX_ROTATION_YAW_180;
+        break;
     case ROTATION_YAW_225:
-	    *this = MATRIX_ROTATION_YAW_225;
-	    break;
+        *this = MATRIX_ROTATION_YAW_225;
+        break;
     case ROTATION_YAW_270:
-	    *this = MATRIX_ROTATION_YAW_270;
-	    break;
+        *this = MATRIX_ROTATION_YAW_270;
+        break;
     case ROTATION_YAW_315:
-	    *this = MATRIX_ROTATION_YAW_315;
-	    break;
+        *this = MATRIX_ROTATION_YAW_315;
+        break;
     case ROTATION_ROLL_180:
-	    *this = MATRIX_ROTATION_ROLL_180;
-	    break;
+        *this = MATRIX_ROTATION_ROLL_180;
+        break;
     case ROTATION_ROLL_180_YAW_45:
-	    *this = MATRIX_ROTATION_ROLL_180_YAW_45;
-	    break;
+        *this = MATRIX_ROTATION_ROLL_180_YAW_45;
+        break;
     case ROTATION_ROLL_180_YAW_90:
-	    *this = MATRIX_ROTATION_ROLL_180_YAW_90;
-	    break;
+        *this = MATRIX_ROTATION_ROLL_180_YAW_90;
+        break;
     case ROTATION_ROLL_180_YAW_135:
-	    *this = MATRIX_ROTATION_ROLL_180_YAW_135;
-	    break;
+        *this = MATRIX_ROTATION_ROLL_180_YAW_135;
+        break;
     case ROTATION_PITCH_180:
-	    *this = MATRIX_ROTATION_PITCH_180;
-	    break;
+        *this = MATRIX_ROTATION_PITCH_180;
+        break;
     case ROTATION_ROLL_180_YAW_225:
-	    *this = MATRIX_ROTATION_ROLL_180_YAW_225;
-	    break;
+        *this = MATRIX_ROTATION_ROLL_180_YAW_225;
+        break;
     case ROTATION_ROLL_180_YAW_270:
-	    *this = MATRIX_ROTATION_ROLL_180_YAW_270;
-	    break;
+        *this = MATRIX_ROTATION_ROLL_180_YAW_270;
+        break;
     case ROTATION_ROLL_180_YAW_315:
-	    *this = MATRIX_ROTATION_ROLL_180_YAW_315;
-	    break;
+        *this = MATRIX_ROTATION_ROLL_180_YAW_315;
+        break;
     }
 }
 
@@ -100,22 +100,22 @@ void Matrix3<T>::rotation(enum Rotation r)
 template <typename T>
 void Matrix3<T>::from_euler(float roll, float pitch, float yaw)
 {
-	float cp = cos(pitch);
-	float sp = sin(pitch);
-	float sr = sin(roll);
-	float cr = cos(roll);
-	float sy = sin(yaw);
-	float cy = cos(yaw);
-
-	a.x = cp * cy;
-	a.y = (sr * sp * cy) - (cr * sy);
-	a.z = (cr * sp * cy) + (sr * sy);
-	b.x = cp * sy;
-	b.y = (sr * sp * sy) + (cr * cy);
-	b.z = (cr * sp * sy) - (sr * cy);
-	c.x = -sp;
-	c.y = sr * cp;
-	c.z = cr * cp;
+    float cp = cos(pitch);
+    float sp = sin(pitch);
+    float sr = sin(roll);
+    float cr = cos(roll);
+    float sy = sin(yaw);
+    float cy = cos(yaw);
+
+    a.x = cp * cy;
+    a.y = (sr * sp * cy) - (cr * sy);
+    a.z = (cr * sp * cy) + (sr * sy);
+    b.x = cp * sy;
+    b.y = (sr * sp * sy) + (cr * cy);
+    b.z = (cr * sp * sy) - (sr * cy);
+    c.x = -sp;
+    c.y = sr * cp;
+    c.z = cr * cp;
 }
 
 // calculate euler angles from a rotation matrix
@@ -123,15 +123,15 @@ void Matrix3<T>::from_euler(float roll, float pitch, float yaw)
 template <typename T>
 void Matrix3<T>::to_euler(float *roll, float *pitch, float *yaw)
 {
-	if (pitch != NULL) {
-		*pitch = -safe_asin(c.x);
-	}
-	if (roll != NULL) {
-		*roll = atan2(c.y, c.z);
-	}
-	if (yaw != NULL) {
-		*yaw = atan2(b.x, a.x);
-	}
+    if (pitch != NULL) {
+        *pitch = -safe_asin(c.x);
+    }
+    if (roll != NULL) {
+        *roll = atan2(c.y, c.z);
+    }
+    if (yaw != NULL) {
+        *yaw = atan2(b.x, a.x);
+    }
 }
 
 // apply an additional rotation from a body frame gyro vector
@@ -139,18 +139,18 @@ void Matrix3<T>::to_euler(float *roll, float *pitch, float *yaw)
 template <typename T>
 void Matrix3<T>::rotate(const Vector3<T> &g)
 {
-	Matrix3f temp_matrix;
-	temp_matrix.a.x = a.y * g.z - a.z * g.y;
-	temp_matrix.a.y = a.z * g.x - a.x * g.z;
-	temp_matrix.a.z = a.x * g.y - a.y * g.x;
-	temp_matrix.b.x = b.y * g.z - b.z * g.y;
-	temp_matrix.b.y = b.z * g.x - b.x * g.z;
-	temp_matrix.b.z = b.x * g.y - b.y * g.x;
-	temp_matrix.c.x = c.y * g.z - c.z * g.y;
-	temp_matrix.c.y = c.z * g.x - c.x * g.z;
-	temp_matrix.c.z = c.x * g.y - c.y * g.x;
-
-	(*this) += temp_matrix;
+    Matrix3f temp_matrix;
+    temp_matrix.a.x = a.y * g.z - a.z * g.y;
+    temp_matrix.a.y = a.z * g.x - a.x * g.z;
+    temp_matrix.a.z = a.x * g.y - a.y * g.x;
+    temp_matrix.b.x = b.y * g.z - b.z * g.y;
+    temp_matrix.b.y = b.z * g.x - b.x * g.z;
+    temp_matrix.b.z = b.x * g.y - b.y * g.x;
+    temp_matrix.c.x = c.y * g.z - c.z * g.y;
+    temp_matrix.c.y = c.z * g.x - c.x * g.z;
+    temp_matrix.c.z = c.x * g.y - c.y * g.x;
+
+    (*this) += temp_matrix;
 }