Fix white space

EKF/common.h

@@ -260,8 +260,8 @@ struct parameters {
 	float pos_noaid_noise{10.0f};		///< observation noise for non-aiding position fusion (m)
 	float baro_noise{2.0f};			///< observation noise for barometric height fusion (m)
 	float baro_innov_gate{5.0f};		///< barometric and GPS height innovation consistency gate size (STD)
-        float gps_pos_innov_gate{5.0f};		///< GPS horizontal position innovation consistency gate size (STD)
-        float gps_vel_innov_gate{5.0f};		///< GPS velocity innovation consistency gate size (STD)
+	float gps_pos_innov_gate{5.0f};		///< GPS horizontal position innovation consistency gate size (STD)
+	float gps_vel_innov_gate{5.0f};		///< GPS velocity innovation consistency gate size (STD)
 	float gnd_effect_deadzone{5.0f};	///< Size of deadzone applied to negative baro innovations when ground effect compensation is active (m)
 	float gnd_effect_max_hgt{0.5f};		///< Height above ground at which baro ground effect becomes insignificant (m)
 

EKF/ekf_helper.cpp

@@ -1121,7 +1121,7 @@ void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, fl
 
 	bool relying_on_rangefinder = _control_status.flags.rng_hgt && !_params.range_aid;
 
-        bool relying_on_optical_flow = _control_status.flags.opt_flow && !(_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel);
+	bool relying_on_optical_flow = _control_status.flags.opt_flow && !(_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel);
 
 	// Do not require limiting by default
 	*vxy_max = NAN;

EKF/estimator_interface.cpp

@@ -384,7 +384,7 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
 			flow_magnitude_good = (flow_rate_magnitude <= _flow_max_rate);
 		}
 
-                bool relying_on_flow = !_control_status.flags.gps && !_control_status.flags.ev_pos && !_control_status.flags.ev_vel;
+		bool relying_on_flow = !_control_status.flags.gps && !_control_status.flags.ev_pos && !_control_status.flags.ev_vel;
 
 		// check quality metric
 		bool flow_quality_good = (flow->quality >= _params.flow_qual_min);

EKF/gps_checks.cpp

@@ -67,7 +67,7 @@ bool Ekf::collect_gps(const gps_message &gps)
 		map_projection_init_timestamped(&_pos_ref, lat, lon, _time_last_imu);
 
 		// if we are already doing aiding, correct for the change in position since the EKF started navigationg
-                if (_control_status.flags.opt_flow || _control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel) {
+		if (_control_status.flags.opt_flow || _control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel) {
 			double est_lat, est_lon;
 			map_projection_reproject(&_pos_ref, -_state.pos(0), -_state.pos(1), &est_lat, &est_lon);
 			map_projection_init_timestamped(&_pos_ref, est_lat, est_lon, _time_last_imu);

EKF/vel_pos_fusion.cpp

@@ -152,7 +152,7 @@ void Ekf::fuseVelPosHeight()
 			R[5] = fmaxf(_ev_sample_delayed.hgtErr, 0.01f);
 			R[5] = R[5] * R[5];
 			// innovation gate size
-                        gate_size[5] = fmaxf(_params.ev_pos_innov_gate, 1.0f);
+			gate_size[5] = fmaxf(_params.ev_pos_innov_gate, 1.0f);
 		}
 
 		// update innovation class variable for logging purposes