diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
index dff49cce34..e60aaf9538 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
@@ -25,7 +25,7 @@ extern const AP_HAL::HAL& hal;
    already know that we should setup the rangefinder
 */
 AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
-													AP_RangeFinder_Params &_params,
+                                                   AP_RangeFinder_Params &_params,
                                                    AP_SerialManager &serial_manager,
                                                    uint8_t serial_instance) :
     AP_RangeFinder_Backend(_state, _params)
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
index ea67a9707b..8818f7882f 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
@@ -43,7 +43,7 @@ class AP_RangeFinder_LeddarOne : public AP_RangeFinder_Backend
 public:
     // constructor
     AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
-    							AP_RangeFinder_Params &_params,
+                             AP_RangeFinder_Params &_params,
                              AP_SerialManager &serial_manager,
                              uint8_t serial_instance);
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h
index 7655694cec..710cc7394b 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h
@@ -10,7 +10,7 @@ class AP_RangeFinder_LightWareI2C : public AP_RangeFinder_Backend
 public:
     // static detection function
     static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state,
-    										AP_RangeFinder_Params &_params,
+                                          AP_RangeFinder_Params &_params,
                                           AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
 
     // update state
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp
index 944156c4b2..7491942087 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp
@@ -26,7 +26,7 @@ extern const AP_HAL::HAL& hal;
    already know that we should setup the rangefinder
 */
 AP_RangeFinder_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,
-																AP_RangeFinder_Params &_params,
+                                                               AP_RangeFinder_Params &_params,
                                                                AP_SerialManager &serial_manager,
                                                                uint8_t serial_instance) :
     AP_RangeFinder_Backend(_state, _params)
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h
index a85b4105b1..ffc9f06d78 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h
@@ -9,7 +9,7 @@ class AP_RangeFinder_LightWareSerial : public AP_RangeFinder_Backend
 public:
     // constructor
     AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,
-    								AP_RangeFinder_Params &_params,
+                                   AP_RangeFinder_Params &_params,
                                    AP_SerialManager &serial_manager,
                                    uint8_t serial_instance);
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
index 5cb392b5a6..896fa1ec18 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
@@ -37,7 +37,7 @@ extern const AP_HAL::HAL& hal;
    already know that we should setup the rangefinder
 */
 AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state,
-															AP_RangeFinder_Params &_params,
+                                                           AP_RangeFinder_Params &_params,
                                                            AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
     : AP_RangeFinder_Backend(_state, _params)
     , _dev(std::move(dev))
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
index e0e7458acb..25c27ee867 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
@@ -12,7 +12,7 @@ class AP_RangeFinder_MaxsonarI2CXL : public AP_RangeFinder_Backend
 public:
     // static detection function
     static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state,
-    										AP_RangeFinder_Params &_params,
+                                          AP_RangeFinder_Params &_params,
                                           AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
 
     // update state
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp
index 5ae80569cd..1b934847dc 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp
@@ -30,7 +30,7 @@ extern const AP_HAL::HAL& hal;
    already know that we should setup the rangefinder
 */
 AP_RangeFinder_MaxsonarSerialLV::AP_RangeFinder_MaxsonarSerialLV(RangeFinder::RangeFinder_State &_state,
-																AP_RangeFinder_Params &_params,
+                                                                 AP_RangeFinder_Params &_params,
                                                                  AP_SerialManager &serial_manager,
                                                                  uint8_t serial_instance) :
     AP_RangeFinder_Backend(_state, _params)
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h
index f002fe5053..f1665883de 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h
@@ -9,7 +9,7 @@ class AP_RangeFinder_MaxsonarSerialLV : public AP_RangeFinder_Backend
 public:
     // constructor
     AP_RangeFinder_MaxsonarSerialLV(RangeFinder::RangeFinder_State &_state,
-    								AP_RangeFinder_Params &_params,
+                                   AP_RangeFinder_Params &_params,
                                    AP_SerialManager &serial_manager,
                                    uint8_t serial_instance);
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp
index cd4a4d3c67..9bab98da8b 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp
@@ -45,7 +45,7 @@ const AP_Param::GroupInfo AP_RangeFinder_Params::var_info[] = {
     // @Param: MIN_CM
     // @DisplayName: Rangefinder minimum distance
     // @Description: Minimum distance in centimeters that rangefinder can reliably read
-	// @Units: cm
+    // @Units: cm
     // @Increment: 1
     // @User: Standard
     AP_GROUPINFO("MIN_CM",  6, AP_RangeFinder_Params, min_distance_cm, 20),
@@ -53,7 +53,7 @@ const AP_Param::GroupInfo AP_RangeFinder_Params::var_info[] = {
     // @Param: MAX_CM
     // @DisplayName: Rangefinder maximum distance
     // @Description: Maximum distance in centimeters that rangefinder can reliably read
-	// @Units: cm
+    // @Units: cm
     // @Increment: 1
     // @User: Standard
     AP_GROUPINFO("MAX_CM",  7, AP_RangeFinder_Params, max_distance_cm, 700),
@@ -80,13 +80,13 @@ const AP_Param::GroupInfo AP_RangeFinder_Params::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("RMETRIC", 10, AP_RangeFinder_Params, ratiometric, 1),
 
-	// @Param: PWRRNG
-	// @DisplayName: Powersave range
-	// @Description: This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
-	// @Units: m
-	// @Range: 0 32767
-	// @User: Standard
-	AP_GROUPINFO("PWRRNG", 11, AP_RangeFinder_Params, powersave_range, 0),
+    // @Param: PWRRNG
+    // @DisplayName: Powersave range
+    // @Description: This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
+    // @Units: m
+    // @Range: 0 32767
+    // @User: Standard
+    AP_GROUPINFO("PWRRNG", 11, AP_RangeFinder_Params, powersave_range, 0),
 
     // @Param: GNDCLEAR
     // @DisplayName: Distance (in cm) from the range finder to the ground
@@ -130,7 +130,7 @@ const AP_Param::GroupInfo AP_RangeFinder_Params::var_info[] = {
     // @Values: 0:Forward, 1:Forward-Right, 2:Right, 3:Back-Right, 4:Back, 5:Back-Left, 6:Left, 7:Forward-Left, 24:Up, 25:Down
     // @User: Advanced
     AP_GROUPINFO("ORIENT", 53, AP_RangeFinder_Params, orientation, ROTATION_PITCH_270),
-    
+
     AP_GROUPEND
 };
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Params.h b/libraries/AP_RangeFinder/AP_RangeFinder_Params.h
index 6f5d3f0fc0..380b874687 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Params.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Params.h
@@ -5,14 +5,14 @@
 
 class AP_RangeFinder_Params {
 public:
-	static const struct AP_Param::GroupInfo var_info[];
-	
-	AP_RangeFinder_Params(void);
-	
+    static const struct AP_Param::GroupInfo var_info[];
+
+    AP_RangeFinder_Params(void);
+
     /* Do not allow copies */
     AP_RangeFinder_Params(const AP_RangeFinder_Params &other) = delete;
     AP_RangeFinder_Params &operator=(const AP_RangeFinder_Params&) = delete;
-    
+
     AP_Int8  type;
     AP_Int8  pin;
     AP_Int8  ratiometric;
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
index 5c2ab9f899..0377ae6919 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
@@ -47,7 +47,7 @@ extern const AP_HAL::HAL& hal;
 */
 AP_RangeFinder_PulsedLightLRF::AP_RangeFinder_PulsedLightLRF(uint8_t bus,
                                                              RangeFinder::RangeFinder_State &_state,
-															 AP_RangeFinder_Params &_params,
+                                                             AP_RangeFinder_Params &_params,
                                                              RangeFinder::RangeFinder_Type _rftype)
     : AP_RangeFinder_Backend(_state, _params)
     , _dev(hal.i2c_mgr->get_device(bus, LL40LS_ADDR))
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h
index 3de97915db..53e51601e0 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h
@@ -21,7 +21,7 @@ public:
     // static detection function
     static AP_RangeFinder_Backend *detect(uint8_t bus,
                                           RangeFinder::RangeFinder_State &_state,
-										  AP_RangeFinder_Params &_params,
+                                          AP_RangeFinder_Params &_params,
                                           RangeFinder::RangeFinder_Type rftype);
 
     // update state
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
index 723fac1e25..4783dec083 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
@@ -35,7 +35,7 @@ extern const AP_HAL::HAL& hal;
    already know that we should setup the rangefinder
 */
 AP_RangeFinder_TeraRangerI2C::AP_RangeFinder_TeraRangerI2C(RangeFinder::RangeFinder_State &_state,
-															AP_RangeFinder_Params &_params,
+                                                           AP_RangeFinder_Params &_params,
                                                            AP_HAL::OwnPtr<AP_HAL::I2CDevice> i2c_dev)
     : AP_RangeFinder_Backend(_state, _params)
     , dev(std::move(i2c_dev))
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.h b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.h
index f112605a4d..8936ae8392 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.h
@@ -9,7 +9,7 @@ class AP_RangeFinder_TeraRangerI2C : public AP_RangeFinder_Backend
 public:
     // static detection function
     static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state,
-    										AP_RangeFinder_Params &_params,
+                                          AP_RangeFinder_Params &_params,
                                           AP_HAL::OwnPtr<AP_HAL::I2CDevice> i2c_dev);
 
     // update state
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp
index 1cf8038c3f..5d2a7e691d 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp
@@ -33,7 +33,7 @@ extern const AP_HAL::HAL& hal;
    already know that we should setup the rangefinder
 */
 AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State &_state,
-													AP_RangeFinder_Params &_params,
+                                                 AP_RangeFinder_Params &_params,
                                                  AP_SerialManager &serial_manager,
                                                  uint8_t serial_instance) :
     AP_RangeFinder_Backend(_state, _params)
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_uLanding.h b/libraries/AP_RangeFinder/AP_RangeFinder_uLanding.h
index b57cda77b5..1cea280720 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_uLanding.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_uLanding.h
@@ -9,7 +9,7 @@ class AP_RangeFinder_uLanding : public AP_RangeFinder_Backend
 public:
     // constructor
 	AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State &_state,
-							AP_RangeFinder_Params &_params,
+                            AP_RangeFinder_Params &_params,
                             AP_SerialManager &serial_manager,
                             uint8_t serial_instance);
 
diff --git a/libraries/AP_RangeFinder/RangeFinder.cpp b/libraries/AP_RangeFinder/RangeFinder.cpp
index 830932da70..e3fb1770c6 100644
--- a/libraries/AP_RangeFinder/RangeFinder.cpp
+++ b/libraries/AP_RangeFinder/RangeFinder.cpp
@@ -38,7 +38,6 @@
 #include "AP_RangeFinder_PWM.h"
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
-#include <stdio.h>
 
 extern const AP_HAL::HAL &hal;
 
diff --git a/libraries/AP_RangeFinder/RangeFinder_Backend.h b/libraries/AP_RangeFinder/RangeFinder_Backend.h
index 2792e2301a..8e1f557ea1 100644
--- a/libraries/AP_RangeFinder/RangeFinder_Backend.h
+++ b/libraries/AP_RangeFinder/RangeFinder_Backend.h
@@ -22,7 +22,6 @@ class AP_RangeFinder_Backend
 {
 public:
     // constructor. This incorporates initialisation as well.
-	//AP_RangeFinder_Backend(RangeFinder::RangeFinder_State &_state);
 	AP_RangeFinder_Backend(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
 
     // we declare a virtual destructor so that RangeFinder drivers can