diff --git a/libraries/APM_RC/APM_RC_APM1.cpp b/libraries/APM_RC/APM_RC_APM1.cpp
index 2bc8a20cf4..1d6d1f8124 100644
--- a/libraries/APM_RC/APM_RC_APM1.cpp
+++ b/libraries/APM_RC/APM_RC_APM1.cpp
@@ -1,34 +1,34 @@
 /*
-	APM_RC_APM1.cpp - Radio Control Library for Ardupilot Mega. Arduino
-	Code by Jordi Muņoz and Jose Julio. DIYDrones.com
-
-	This library is free software; you can redistribute it and/or
-    modify it under the terms of the GNU Lesser General Public
-    License as published by the Free Software Foundation; either
-    version 2.1 of the License, or (at your option) any later version.
-
-	RC Input : PPM signal on IC4 pin
-	RC Output : 11 Servo outputs (standard 20ms frame)
-
-	Methods:
-		Init() : Initialization of interrupts an Timers
-		OutpuCh(ch,pwm) : Output value to servos (range : 900-2100us) ch=0..10
-		InputCh(ch) : Read a channel input value.  ch=0..7
-		GetState() : Returns the state of the input. 1 => New radio frame to process
-		             Automatically resets when we call InputCh to read channels
-
-*/
+ *       APM_RC_APM1.cpp - Radio Control Library for Ardupilot Mega. Arduino
+ *       Code by Jordi Muņoz and Jose Julio. DIYDrones.com
+ *
+ *       This library is free software; you can redistribute it and/or
+ *   modify it under the terms of the GNU Lesser General Public
+ *   License as published by the Free Software Foundation; either
+ *   version 2.1 of the License, or (at your option) any later version.
+ *
+ *       RC Input : PPM signal on IC4 pin
+ *       RC Output : 11 Servo outputs (standard 20ms frame)
+ *
+ *       Methods:
+ *               Init() : Initialization of interrupts an Timers
+ *               OutpuCh(ch,pwm) : Output value to servos (range : 900-2100us) ch=0..10
+ *               InputCh(ch) : Read a channel input value.  ch=0..7
+ *               GetState() : Returns the state of the input. 1 => New radio frame to process
+ *                            Automatically resets when we call InputCh to read channels
+ *
+ */
 #include "APM_RC_APM1.h"
 
 #include <avr/interrupt.h>
 #if defined(ARDUINO) && ARDUINO >= 100
-	#include "Arduino.h"
+ #include "Arduino.h"
 #else
-	#include "WProgram.h"
+ #include "WProgram.h"
 #endif
 
 #if !defined(__AVR_ATmega1280__) && !defined(__AVR_ATmega2560__)
-# error Please check the Tools/Board menu to ensure you have selected Arduino Mega as your target.
+ # error Please check the Tools/Board menu to ensure you have selected Arduino Mega as your target.
 #else
 
 // Variable definition for Input Capture interrupt
@@ -36,37 +36,37 @@ volatile uint16_t APM_RC_APM1::_PWM_RAW[NUM_CHANNELS] = {2400,2400,2400,2400,240
 volatile uint8_t APM_RC_APM1::_radio_status=0;
 
 /****************************************************
-   Input Capture Interrupt ICP4 => PPM signal read
- ****************************************************/
+*   Input Capture Interrupt ICP4 => PPM signal read
+****************************************************/
 void APM_RC_APM1::_timer4_capt_cb(void)
 {
-  static uint16_t ICR4_old;
-  static uint8_t PPM_Counter=0;
-
-  uint16_t Pulse;
-  uint16_t Pulse_Width;
-
-  Pulse=ICR4;
-  if (Pulse<ICR4_old) {                       // Take care of the overflow of Timer4 (TOP=40000)
-    Pulse_Width=(Pulse + 40000)-ICR4_old;     // Calculating pulse
-  }
-  else {
-    Pulse_Width=Pulse-ICR4_old;               // Calculating pulse
-  }
-
-  if (Pulse_Width>8000) {                     // SYNC pulse?
-    PPM_Counter=0;
-  }
-  else {
-    if (PPM_Counter < NUM_CHANNELS) {         // Valid pulse channel?
-	  _PWM_RAW[PPM_Counter++]=Pulse_Width;     // Saving pulse.
-
-	  if (PPM_Counter >= NUM_CHANNELS) {
-	    _radio_status = 1;
-      }
+    static uint16_t ICR4_old;
+    static uint8_t PPM_Counter=0;
+
+    uint16_t Pulse;
+    uint16_t Pulse_Width;
+
+    Pulse=ICR4;
+    if (Pulse<ICR4_old) {                     // Take care of the overflow of Timer4 (TOP=40000)
+        Pulse_Width=(Pulse + 40000)-ICR4_old; // Calculating pulse
+    }
+    else {
+        Pulse_Width=Pulse-ICR4_old;           // Calculating pulse
     }
-  }
-  ICR4_old = Pulse;
+
+    if (Pulse_Width>8000) {                   // SYNC pulse?
+        PPM_Counter=0;
+    }
+    else {
+        if (PPM_Counter < NUM_CHANNELS) {     // Valid pulse channel?
+            _PWM_RAW[PPM_Counter++]=Pulse_Width;   // Saving pulse.
+
+            if (PPM_Counter >= NUM_CHANNELS) {
+                _radio_status = 1;
+            }
+        }
+    }
+    ICR4_old = Pulse;
 }
 
 
@@ -80,69 +80,69 @@ APM_RC_APM1::APM_RC_APM1()
 void APM_RC_APM1::Init( Arduino_Mega_ISR_Registry * isr_reg )
 {
 
-  isr_reg->register_signal(ISR_REGISTRY_TIMER4_CAPT, _timer4_capt_cb );
-
-  // Init PWM Timer 1
-  pinMode(11,OUTPUT); //OUT9 (PB5/OC1A)
-  pinMode(12,OUTPUT); //OUT2 (PB6/OC1B)
-  pinMode(13,OUTPUT); //OUT3 (PB7/OC1C)
-
-  //Remember the registers not declared here remains zero by default...
-  TCCR1A =((1<<WGM11)); //Please read page 131 of DataSheet, we are changing the registers settings of WGM11,COM1B1,COM1A1 to 1 thats all...
-  TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11); //Prescaler set to 8, that give us a resolution of 0.5us, read page 134 of data sheet
-  OCR1A = 0xFFFF; // Init ODR registers to nil output signal
-  OCR1B = 0xFFFF;
-  OCR1C = 0xFFFF;
-  ICR1 = 40000; //50hz freq...Datasheet says  (system_freq/prescaler)/target frequency. So (16000000hz/8)/50hz=40000,
-
-  // Init PWM Timer 3
-  pinMode(2,OUTPUT); //OUT7 (PE4/OC3B)
-  pinMode(3,OUTPUT); //OUT6 (PE5/OC3C)
-  pinMode(5,OUTPUT); //OUT10(PE3/OC3A)
-  TCCR3A =((1<<WGM31));
-  TCCR3B = (1<<WGM33)|(1<<WGM32)|(1<<CS31);
-  OCR3A = 0xFFFF; // Init ODR registers to nil output signal
-  OCR3B = 0xFFFF;
-  OCR3C = 0xFFFF;
-  ICR3 = 40000; //50hz freq
-
-  // Init PWM Timer 5
-  pinMode(44,OUTPUT);  //OUT1 (PL5/OC5C)
-  pinMode(45,OUTPUT);  //OUT0 (PL4/OC5B)
-  pinMode(46,OUTPUT);  //OUT8 (PL3/OC5A)
-
-  TCCR5A =((1<<WGM51));
-  TCCR5B = (1<<WGM53)|(1<<WGM52)|(1<<CS51);
-  OCR5A = 0xFFFF; // Init ODR registers to nil output signal
-  OCR5B = 0xFFFF;
-  OCR5C = 0xFFFF;
-  ICR5 = 40000; //50hz freq
-
-  // Init PPM input and PWM Timer 4
-  pinMode(49, INPUT);  // ICP4 pin (PL0) (PPM input)
-  pinMode(7,OUTPUT);   //OUT5 (PH4/OC4B)
-  pinMode(8,OUTPUT);   //OUT4 (PH5/OC4C)
-
-  TCCR4A =((1<<WGM40)|(1<<WGM41));
-  //Prescaler set to 8, that give us a resolution of 0.5us
-  // Input Capture rising edge
-  TCCR4B = ((1<<WGM43)|(1<<WGM42)|(1<<CS41)|(1<<ICES4));
-  OCR4B = 0xFFFF; // Init OCR registers to nil output signal
-  OCR4C = 0xFFFF;
-  OCR4A = 40000; ///50hz freq.
-
-  //TCCR4B |=(1<<ICES4); //Changing edge detector (rising edge).
-  //TCCR4B &=(~(1<<ICES4)); //Changing edge detector. (falling edge)
-  TIMSK4 |= (1<<ICIE4); // Enable Input Capture interrupt. Timer interrupt mask
+    isr_reg->register_signal(ISR_REGISTRY_TIMER4_CAPT, _timer4_capt_cb );
+
+    // Init PWM Timer 1
+    pinMode(11,OUTPUT); //OUT9 (PB5/OC1A)
+    pinMode(12,OUTPUT); //OUT2 (PB6/OC1B)
+    pinMode(13,OUTPUT); //OUT3 (PB7/OC1C)
+
+    //Remember the registers not declared here remains zero by default...
+    TCCR1A =((1<<WGM11)); //Please read page 131 of DataSheet, we are changing the registers settings of WGM11,COM1B1,COM1A1 to 1 thats all...
+    TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11); //Prescaler set to 8, that give us a resolution of 0.5us, read page 134 of data sheet
+    OCR1A = 0xFFFF; // Init ODR registers to nil output signal
+    OCR1B = 0xFFFF;
+    OCR1C = 0xFFFF;
+    ICR1 = 40000; //50hz freq...Datasheet says  (system_freq/prescaler)/target frequency. So (16000000hz/8)/50hz=40000,
+
+    // Init PWM Timer 3
+    pinMode(2,OUTPUT); //OUT7 (PE4/OC3B)
+    pinMode(3,OUTPUT); //OUT6 (PE5/OC3C)
+    pinMode(5,OUTPUT); //OUT10(PE3/OC3A)
+    TCCR3A =((1<<WGM31));
+    TCCR3B = (1<<WGM33)|(1<<WGM32)|(1<<CS31);
+    OCR3A = 0xFFFF; // Init ODR registers to nil output signal
+    OCR3B = 0xFFFF;
+    OCR3C = 0xFFFF;
+    ICR3 = 40000; //50hz freq
+
+    // Init PWM Timer 5
+    pinMode(44,OUTPUT); //OUT1 (PL5/OC5C)
+    pinMode(45,OUTPUT); //OUT0 (PL4/OC5B)
+    pinMode(46,OUTPUT); //OUT8 (PL3/OC5A)
+
+    TCCR5A =((1<<WGM51));
+    TCCR5B = (1<<WGM53)|(1<<WGM52)|(1<<CS51);
+    OCR5A = 0xFFFF; // Init ODR registers to nil output signal
+    OCR5B = 0xFFFF;
+    OCR5C = 0xFFFF;
+    ICR5 = 40000; //50hz freq
+
+    // Init PPM input and PWM Timer 4
+    pinMode(49, INPUT); // ICP4 pin (PL0) (PPM input)
+    pinMode(7,OUTPUT); //OUT5 (PH4/OC4B)
+    pinMode(8,OUTPUT); //OUT4 (PH5/OC4C)
+
+    TCCR4A =((1<<WGM40)|(1<<WGM41));
+    //Prescaler set to 8, that give us a resolution of 0.5us
+    // Input Capture rising edge
+    TCCR4B = ((1<<WGM43)|(1<<WGM42)|(1<<CS41)|(1<<ICES4));
+    OCR4B = 0xFFFF; // Init OCR registers to nil output signal
+    OCR4C = 0xFFFF;
+    OCR4A = 40000; ///50hz freq.
+
+    //TCCR4B |=(1<<ICES4); //Changing edge detector (rising edge).
+    //TCCR4B &=(~(1<<ICES4)); //Changing edge detector. (falling edge)
+    TIMSK4 |= (1<<ICIE4); // Enable Input Capture interrupt. Timer interrupt mask
 }
 
 void APM_RC_APM1::OutputCh(uint8_t ch, uint16_t pwm)
 {
-  pwm=constrain(pwm,MIN_PULSEWIDTH,MAX_PULSEWIDTH);
-  pwm<<=1;   // pwm*2;
+    pwm=constrain(pwm,MIN_PULSEWIDTH,MAX_PULSEWIDTH);
+    pwm<<=1; // pwm*2;
 
- switch(ch)
-  {
+    switch(ch)
+    {
     case 0:  OCR5B=pwm; break;  //ch1
     case 1:  OCR5C=pwm; break;  //ch2
     case 2:  OCR1B=pwm; break;  //ch3
@@ -154,31 +154,31 @@ void APM_RC_APM1::OutputCh(uint8_t ch, uint16_t pwm)
     case 8:  OCR5A=pwm; break;  //ch9,  PL3
     case 9:  OCR1A=pwm; break;  //ch10, PB5
     case 10: OCR3A=pwm; break;  //ch11, PE3
-  }
+    }
 }
 
 uint16_t APM_RC_APM1::OutputCh_current(uint8_t ch)
 {
-	uint16_t pwm=0;
-	switch(ch) {
-	case 0:  pwm=OCR5B; break;  //ch1
-	case 1:  pwm=OCR5C; break;  //ch2
-	case 2:  pwm=OCR1B; break;  //ch3
-	case 3:  pwm=OCR1C; break;  //ch4
-	case 4:  pwm=OCR4C; break;  //ch5
-	case 5:  pwm=OCR4B; break;  //ch6
-	case 6:  pwm=OCR3C; break;  //ch7
-	case 7:  pwm=OCR3B; break;  //ch8
-	case 8:  pwm=OCR5A; break;  //ch9,  PL3
-	case 9:  pwm=OCR1A; break;  //ch10, PB5
-	case 10: pwm=OCR3A; break;  //ch11, PE3
-	}
-	return pwm>>1;
+    uint16_t pwm=0;
+    switch(ch) {
+    case 0:  pwm=OCR5B; break;      //ch1
+    case 1:  pwm=OCR5C; break;      //ch2
+    case 2:  pwm=OCR1B; break;      //ch3
+    case 3:  pwm=OCR1C; break;      //ch4
+    case 4:  pwm=OCR4C; break;      //ch5
+    case 5:  pwm=OCR4B; break;      //ch6
+    case 6:  pwm=OCR3C; break;      //ch7
+    case 7:  pwm=OCR3B; break;      //ch8
+    case 8:  pwm=OCR5A; break;      //ch9,  PL3
+    case 9:  pwm=OCR1A; break;      //ch10, PB5
+    case 10: pwm=OCR3A; break;      //ch11, PE3
+    }
+    return pwm>>1;
 }
 
 void APM_RC_APM1::enable_out(uint8_t ch)
 {
- switch(ch){
+    switch(ch) {
     case 0:  TCCR5A |= (1<<COM5B1); break;  // CH_1 : OC5B
     case 1:  TCCR5A |= (1<<COM5C1); break;  // CH_2 : OC5C
     case 2:  TCCR1A |= (1<<COM1B1); break;  // CH_3 : OC1B
@@ -190,12 +190,12 @@ void APM_RC_APM1::enable_out(uint8_t ch)
     case 8:  TCCR5A |= (1<<COM5A1); break;  // CH_9 : OC5A
     case 9:  TCCR1A |= (1<<COM1A1); break;  // CH_10: OC1A
     case 10: TCCR3A |= (1<<COM3A1); break;  // CH_11: OC3A
-  }
+    }
 }
 
 void APM_RC_APM1::disable_out(uint8_t ch)
 {
- switch(ch){
+    switch(ch) {
     case 0:  TCCR5A &= ~(1<<COM5B1); break;  // CH_1 : OC5B
     case 1:  TCCR5A &= ~(1<<COM5C1); break;  // CH_2 : OC5C
     case 2:  TCCR1A &= ~(1<<COM1B1); break;  // CH_3 : OC1B
@@ -207,34 +207,34 @@ void APM_RC_APM1::disable_out(uint8_t ch)
     case 8:  TCCR5A &= ~(1<<COM5A1); break;  // CH_9 : OC5A
     case 9:  TCCR1A &= ~(1<<COM1A1); break;  // CH_10: OC1A
     case 10: TCCR3A &= ~(1<<COM3A1); break;  // CH_11: OC3A
-  }
+    }
 }
 
 uint16_t APM_RC_APM1::InputCh(uint8_t ch)
 {
-	uint16_t result;
+    uint16_t result;
 
-	if (_HIL_override[ch] != 0) {
-		return _HIL_override[ch];
-	}
+    if (_HIL_override[ch] != 0) {
+        return _HIL_override[ch];
+    }
 
-	// we need to stop interrupts to be sure we get a correct 16 bit value
-	cli();
-	result = _PWM_RAW[ch];
-	sei();
+    // we need to stop interrupts to be sure we get a correct 16 bit value
+    cli();
+    result = _PWM_RAW[ch];
+    sei();
 
-	// Because timer runs at 0.5us we need to do value/2
-	result >>= 1;
+    // Because timer runs at 0.5us we need to do value/2
+    result >>= 1;
 
-	// Limit values to a valid range
-	result = constrain(result,MIN_PULSEWIDTH,MAX_PULSEWIDTH);
-	_radio_status = 0; // Radio channel read
-	return result;
+    // Limit values to a valid range
+    result = constrain(result,MIN_PULSEWIDTH,MAX_PULSEWIDTH);
+    _radio_status = 0;     // Radio channel read
+    return result;
 }
 
 uint8_t APM_RC_APM1::GetState(void)
 {
-  return(_radio_status);
+    return(_radio_status);
 }
 
 
@@ -248,51 +248,51 @@ void APM_RC_APM1::Force_Out(void)
 // This function forces the PWM output (reset PWM) on Out0 and Out1 (Timer5). For quadcopters use
 void APM_RC_APM1::Force_Out0_Out1(void)
 {
-  if (TCNT5>5000)  // We take care that there are not a pulse in the output
-    TCNT5=39990;   // This forces the PWM output to reset in 5us (10 counts of 0.5us). The counter resets at 40000
+    if (TCNT5>5000) // We take care that there are not a pulse in the output
+        TCNT5=39990;  // This forces the PWM output to reset in 5us (10 counts of 0.5us). The counter resets at 40000
 }
 // This function forces the PWM output (reset PWM) on Out2 and Out3 (Timer1). For quadcopters use
 void APM_RC_APM1::Force_Out2_Out3(void)
 {
-  if (TCNT1>5000)
-    TCNT1=39990;
+    if (TCNT1>5000)
+        TCNT1=39990;
 }
 // This function forces the PWM output (reset PWM) on Out6 and Out7 (Timer3). For quadcopters use
 void APM_RC_APM1::Force_Out6_Out7(void)
 {
-  if (TCNT3>5000)
-    TCNT3=39990;
+    if (TCNT3>5000)
+        TCNT3=39990;
 }
 
 /* --------------------- OUTPUT SPEED CONTROL --------------------- */
 
 void APM_RC_APM1::SetFastOutputChannels(uint32_t chmask, uint16_t speed_hz)
 {
-	uint16_t icr = _map_speed(speed_hz);
-
-	if ((chmask & ( _BV(CH_1) | _BV(CH_2) | _BV(CH_9))) != 0) {
-		ICR1 = icr;
-	}
-
-	if ((chmask & ( _BV(CH_3) | _BV(CH_4) | _BV(CH_10))) != 0) {
-		ICR5 = icr;
-	}
-
-#if 0
-	if ((chmask & ( _BV(CH_5) | _BV(CH_6))) != 0) {
-		/* These channels intentionally left blank:
-		 * Can't change output speed of ch5 (OCR4B) and ch6 (OCR4C).
-		 * Timer 4 period controlled by OCR4A, and used for input
-		 * capture on ICR4.
-		 * If the period of Timer 4 must be changed, the input capture
-		 * code will have to be adjusted as well
-		 */
-	}
-#endif
+    uint16_t icr = _map_speed(speed_hz);
 
-	if ((chmask & ( _BV(CH_7) | _BV(CH_8) | _BV(CH_11))) != 0) {
-		ICR3 = icr;
-	}
+    if ((chmask & ( _BV(CH_1) | _BV(CH_2) | _BV(CH_9))) != 0) {
+        ICR1 = icr;
+    }
+
+    if ((chmask & ( _BV(CH_3) | _BV(CH_4) | _BV(CH_10))) != 0) {
+        ICR5 = icr;
+    }
+
+ #if 0
+    if ((chmask & ( _BV(CH_5) | _BV(CH_6))) != 0) {
+        /* These channels intentionally left blank:
+         * Can't change output speed of ch5 (OCR4B) and ch6 (OCR4C).
+         * Timer 4 period controlled by OCR4A, and used for input
+         * capture on ICR4.
+         * If the period of Timer 4 must be changed, the input capture
+         * code will have to be adjusted as well
+         */
+    }
+ #endif
+
+    if ((chmask & ( _BV(CH_7) | _BV(CH_8) | _BV(CH_11))) != 0) {
+        ICR3 = icr;
+    }
 
 }
 
@@ -301,28 +301,28 @@ void APM_RC_APM1::SetFastOutputChannels(uint32_t chmask, uint16_t speed_hz)
 // A value of 0 means no override, use the real RC values
 bool APM_RC_APM1::setHIL(int16_t v[NUM_CHANNELS])
 {
-	uint8_t sum = 0;
-	for (uint8_t i=0; i<NUM_CHANNELS; i++) {
-		if (v[i] != -1) {
-			_HIL_override[i] = v[i];
-		}
-		if (_HIL_override[i] != 0) {
-			sum++;
-		}
-	}
-	_radio_status = 1;
-	if (sum == 0) {
-		return 0;
-	} else {
-		return 1;
-	}
+    uint8_t sum = 0;
+    for (uint8_t i=0; i<NUM_CHANNELS; i++) {
+        if (v[i] != -1) {
+            _HIL_override[i] = v[i];
+        }
+        if (_HIL_override[i] != 0) {
+            sum++;
+        }
+    }
+    _radio_status = 1;
+    if (sum == 0) {
+        return 0;
+    } else {
+        return 1;
+    }
 }
 
 void APM_RC_APM1::clearOverride(void)
 {
-	for (uint8_t i=0; i<NUM_CHANNELS; i++) {
-		_HIL_override[i] = 0;
-	}
+    for (uint8_t i=0; i<NUM_CHANNELS; i++) {
+        _HIL_override[i] = 0;
+    }
 }