diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
index e3720c8018..11f4093768 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
@@ -45,7 +45,7 @@ NavEKF3_core::MagCal NavEKF3_core::effective_magCal(void) const
     MagCal magcal = MagCal(frontend->_magCal.get());
 
     // force use of simple magnetic heading fusion for specified cores
-    if (magcal != MagCal::EXTERNAL_YAW && magcal != MagCal::EXTERNAL_YAW_FALLBACK && magcal != MagCal::GSF_YAW && (frontend->_magMask & core_index)) {
+    if ((magcal != MagCal::EXTERNAL_YAW) && (magcal != MagCal::EXTERNAL_YAW_FALLBACK) && (magcal != MagCal::GSF_YAW) && (frontend->_magMask & core_index)) {
         return MagCal::NEVER;
     }
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
index c3ae51049a..a3dfd56ed4 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
@@ -404,7 +404,7 @@ void NavEKF3_core::SelectMagFusion()
         // above
         readMagData();
     }
-    
+
     // If we are using the compass and the magnetometer has been unhealthy for too long we declare a timeout
     if (magHealth) {
         magTimeout = false;
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index 4c65b54a5c..37157041ab 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -1398,8 +1398,8 @@ private:
     void updateMovementCheck(void);
 
     // The following declarations are used to control when the main navigation filter resets it's yaw to the estimate provided by the GSF
-	uint32_t EKFGSF_yaw_reset_ms;	        // timestamp of last emergency yaw reset (uSec)
-	uint32_t EKFGSF_yaw_reset_request_ms;   // timestamp of last emergency yaw reset request (uSec)
+    uint32_t EKFGSF_yaw_reset_ms;	        // timestamp of last emergency yaw reset (uSec)
+    uint32_t EKFGSF_yaw_reset_request_ms;   // timestamp of last emergency yaw reset request (uSec)
     uint8_t EKFGSF_yaw_reset_count;         // number of emergency yaw resets performed
     bool EKFGSF_run_filterbank;             // true when the filter bank is active
 };