diff --git a/libraries/AP_MSP/AP_MSP.h b/libraries/AP_MSP/AP_MSP.h
index 85422ccaf0..7f39b91963 100644
--- a/libraries/AP_MSP/AP_MSP.h
+++ b/libraries/AP_MSP/AP_MSP.h
@@ -57,7 +57,7 @@ public:
 
 private:
 
-    enum msp_option_e : uint8_t{
+    enum msp_option_e : uint8_t {
         OPTION_TELEMETRY_MODE = 1U<<0,
     };
 
diff --git a/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp b/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
index 2e5a3915cb..b0edc2ad58 100644
--- a/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
+++ b/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
@@ -102,23 +102,23 @@ void AP_MSP_Telem_Backend::process_outgoing_data()
 bool AP_MSP_Telem_Backend::is_packet_ready(uint8_t idx, bool queue_empty)
 {
     switch (idx) {
-        case EMPTY_SLOT:        // empty slot
-        case NAME:              // used for status_text messages
-        case STATUS:            // flightmode
-        case CONFIG:            // OSD config
-        case RAW_GPS:           // lat,lon, speed
-        case COMP_GPS:          // home dir,dist
-        case ATTITUDE:          // Attitude
-        case ALTITUDE:          // Altitude and Vario
-        case ANALOG:            // Rssi, Battery, mAh, Current
-        case BATTERY_STATE:     // voltage, capacity, current, mAh
+    case EMPTY_SLOT:        // empty slot
+    case NAME:              // used for status_text messages
+    case STATUS:            // flightmode
+    case CONFIG:            // OSD config
+    case RAW_GPS:           // lat,lon, speed
+    case COMP_GPS:          // home dir,dist
+    case ATTITUDE:          // Attitude
+    case ALTITUDE:          // Altitude and Vario
+    case ANALOG:            // Rssi, Battery, mAh, Current
+    case BATTERY_STATE:     // voltage, capacity, current, mAh
 #ifdef HAVE_AP_BLHELI_SUPPORT
-        case ESC_SENSOR_DATA:   // esc temp + rpm
+    case ESC_SENSOR_DATA:   // esc temp + rpm
 #endif
-        case RTC_DATETIME:      // RTC
-            return true;
-        default:
-            return false;
+    case RTC_DATETIME:      // RTC
+        return true;
+    default:
+        return false;
     }
 }
 
@@ -251,7 +251,7 @@ void AP_MSP_Telem_Backend::update_airspeed(airspeed_state_t &airspeed_state)
 
 /*
     MSP OSDs can display up to MSP_TXT_VISIBLE_CHARS chars (UTF8 characters are supported)
-    We display the flight mode string either with or without wind state 
+    We display the flight mode string either with or without wind state
 */
 void AP_MSP_Telem_Backend::update_flight_mode_str(char *flight_mode_str, bool wind_enabled)
 {
@@ -416,47 +416,47 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_command(msp_packet_t *cmd, ms
 MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_command(uint16_t cmd_msp, sbuf_t *dst)
 {
     switch (cmd_msp) {
-        case MSP_API_VERSION:
-            return msp_process_out_api_version(dst);
-        case MSP_FC_VARIANT:
-            return msp_process_out_fc_variant(dst);
-        case MSP_FC_VERSION:
-            return msp_process_out_fc_version(dst);
-        case MSP_BOARD_INFO:
-            return msp_process_out_board_info(dst);
-        case MSP_BUILD_INFO:
-            return msp_process_out_build_info(dst);
-        case MSP_NAME:
-            return msp_process_out_name(dst);
-        case MSP_OSD_CONFIG:
-            return msp_process_out_osd_config(dst);
-        case MSP_STATUS:
-        case MSP_STATUS_EX:
-            return msp_process_out_status(dst);
-        case MSP_RAW_GPS:
-            return msp_process_out_raw_gps(dst);
-        case MSP_COMP_GPS:
-            return msp_process_out_comp_gps(dst);
-        case MSP_ATTITUDE:
-            return msp_process_out_attitude(dst);
-        case MSP_ALTITUDE:
-            return msp_process_out_altitude(dst);
-        case MSP_ANALOG:
-            return msp_process_out_analog(dst);
-        case MSP_BATTERY_STATE:
-            return msp_process_out_battery_state(dst);
-        case MSP_UID:
-            return msp_process_out_uid(dst);
+    case MSP_API_VERSION:
+        return msp_process_out_api_version(dst);
+    case MSP_FC_VARIANT:
+        return msp_process_out_fc_variant(dst);
+    case MSP_FC_VERSION:
+        return msp_process_out_fc_version(dst);
+    case MSP_BOARD_INFO:
+        return msp_process_out_board_info(dst);
+    case MSP_BUILD_INFO:
+        return msp_process_out_build_info(dst);
+    case MSP_NAME:
+        return msp_process_out_name(dst);
+    case MSP_OSD_CONFIG:
+        return msp_process_out_osd_config(dst);
+    case MSP_STATUS:
+    case MSP_STATUS_EX:
+        return msp_process_out_status(dst);
+    case MSP_RAW_GPS:
+        return msp_process_out_raw_gps(dst);
+    case MSP_COMP_GPS:
+        return msp_process_out_comp_gps(dst);
+    case MSP_ATTITUDE:
+        return msp_process_out_attitude(dst);
+    case MSP_ALTITUDE:
+        return msp_process_out_altitude(dst);
+    case MSP_ANALOG:
+        return msp_process_out_analog(dst);
+    case MSP_BATTERY_STATE:
+        return msp_process_out_battery_state(dst);
+    case MSP_UID:
+        return msp_process_out_uid(dst);
 #ifdef HAVE_AP_BLHELI_SUPPORT
-        case MSP_ESC_SENSOR_DATA:
-            return msp_process_out_esc_sensor_data(dst);
+    case MSP_ESC_SENSOR_DATA:
+        return msp_process_out_esc_sensor_data(dst);
 #endif
-        case MSP_RTC:
-            return msp_process_out_rtc(dst);
-        case MSP_RC:
-            return msp_process_out_rc(dst);
-        default:
-            return MSP_RESULT_ERROR;
+    case MSP_RTC:
+        return msp_process_out_rtc(dst);
+    case MSP_RC:
+        return msp_process_out_rc(dst);
+    default:
+        return MSP_RESULT_ERROR;
     }
 }
 
@@ -465,16 +465,16 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_sensor_command(uint16_t cmd_m
     MSP_UNUSED(src);
 
     switch (cmd_msp) {
-        case MSP2_SENSOR_RANGEFINDER: {
-            const MSP::msp_rangefinder_sensor_t pkt = *(const MSP::msp_rangefinder_sensor_t *)src->ptr;
-            msp_handle_rangefinder(pkt);
-        }
-        break;
-        case MSP2_SENSOR_OPTIC_FLOW: {
-            const MSP::msp_opflow_sensor_t pkt = *(const MSP::msp_opflow_sensor_t *)src->ptr;
-            msp_handle_opflow(pkt);
-        }
-        break;
+    case MSP2_SENSOR_RANGEFINDER: {
+        const MSP::msp_rangefinder_sensor_t pkt = *(const MSP::msp_rangefinder_sensor_t *)src->ptr;
+        msp_handle_rangefinder(pkt);
+    }
+    break;
+    case MSP2_SENSOR_OPTIC_FLOW: {
+        const MSP::msp_opflow_sensor_t pkt = *(const MSP::msp_opflow_sensor_t *)src->ptr;
+        msp_handle_opflow(pkt);
+    }
+    break;
     }
 
     return MSP_RESULT_NO_REPLY;
diff --git a/libraries/AP_MSP/msp.cpp b/libraries/AP_MSP/msp.cpp
index 800fda9838..a5c231d692 100644
--- a/libraries/AP_MSP/msp.cpp
+++ b/libraries/AP_MSP/msp.cpp
@@ -144,168 +144,168 @@ uint32_t MSP::msp_serial_encode(msp_port_t *msp, msp_packet_t *packet, msp_versi
 bool MSP::msp_parse_received_data(msp_port_t *msp, uint8_t c)
 {
     switch (msp->c_state) {
-        default:
-        case MSP_IDLE:      // Waiting for '$' character
-            if (c == '$') {
-                msp->msp_version = MSP_V1;
-                msp->c_state = MSP_HEADER_START;
-            } else {
-                return false;
-            }
-            break;
+    default:
+    case MSP_IDLE:      // Waiting for '$' character
+        if (c == '$') {
+            msp->msp_version = MSP_V1;
+            msp->c_state = MSP_HEADER_START;
+        } else {
+            return false;
+        }
+        break;
 
-        case MSP_HEADER_START:  // Waiting for 'M' (MSPv1 / MSPv2_over_v1) or 'X' (MSPv2 native)
-            switch (c) {
-                case 'M':
-                    msp->c_state = MSP_HEADER_M;
-                    break;
-                case 'X':
-                    msp->c_state = MSP_HEADER_X;
-                    break;
-                default:
-                    msp->c_state = MSP_IDLE;
-                    break;
-            }
+    case MSP_HEADER_START:  // Waiting for 'M' (MSPv1 / MSPv2_over_v1) or 'X' (MSPv2 native)
+        switch (c) {
+        case 'M':
+            msp->c_state = MSP_HEADER_M;
             break;
-
-        case MSP_HEADER_M:      // Waiting for '<'
-            if (c == '<') {
-                msp->offset = 0;
-                msp->checksum1 = 0;
-                msp->checksum2 = 0;
-                msp->c_state = MSP_HEADER_V1;
-            } else {
-                msp->c_state = MSP_IDLE;
-            }
+        case 'X':
+            msp->c_state = MSP_HEADER_X;
             break;
-
-        case MSP_HEADER_X:
-            if (c == '<') {
-                msp->offset = 0;
-                msp->checksum2 = 0;
-                msp->msp_version = MSP_V2_NATIVE;
-                msp->c_state = MSP_HEADER_V2_NATIVE;
-            } else {
-                msp->c_state = MSP_IDLE;
-            }
+        default:
+            msp->c_state = MSP_IDLE;
             break;
-
-        case MSP_HEADER_V1:     // Now receive v1 header (size/cmd), this is already checksummable
-            msp->in_buf[msp->offset++] = c;
-            msp->checksum1 ^= c;
-            if (msp->offset == sizeof(msp_header_v1_t)) {
-                msp_header_v1_t * hdr = (msp_header_v1_t *)&msp->in_buf[0];
-                // Check incoming buffer size limit
-                if (hdr->size > MSP_PORT_INBUF_SIZE) {
-                    msp->c_state = MSP_IDLE;
-                } else if (hdr->cmd == MSP_V2_FRAME_ID) {
-                    // MSPv1 payload must be big enough to hold V2 header + extra checksum
-                    if (hdr->size >= sizeof(msp_header_v2_t) + 1) {
-                        msp->msp_version = MSP_V2_OVER_V1;
-                        msp->c_state = MSP_HEADER_V2_OVER_V1;
-                    } else {
-                        msp->c_state = MSP_IDLE;
-                    }
+        }
+        break;
+
+    case MSP_HEADER_M:      // Waiting for '<'
+        if (c == '<') {
+            msp->offset = 0;
+            msp->checksum1 = 0;
+            msp->checksum2 = 0;
+            msp->c_state = MSP_HEADER_V1;
+        } else {
+            msp->c_state = MSP_IDLE;
+        }
+        break;
+
+    case MSP_HEADER_X:
+        if (c == '<') {
+            msp->offset = 0;
+            msp->checksum2 = 0;
+            msp->msp_version = MSP_V2_NATIVE;
+            msp->c_state = MSP_HEADER_V2_NATIVE;
+        } else {
+            msp->c_state = MSP_IDLE;
+        }
+        break;
+
+    case MSP_HEADER_V1:     // Now receive v1 header (size/cmd), this is already checksummable
+        msp->in_buf[msp->offset++] = c;
+        msp->checksum1 ^= c;
+        if (msp->offset == sizeof(msp_header_v1_t)) {
+            msp_header_v1_t * hdr = (msp_header_v1_t *)&msp->in_buf[0];
+            // Check incoming buffer size limit
+            if (hdr->size > MSP_PORT_INBUF_SIZE) {
+                msp->c_state = MSP_IDLE;
+            } else if (hdr->cmd == MSP_V2_FRAME_ID) {
+                // MSPv1 payload must be big enough to hold V2 header + extra checksum
+                if (hdr->size >= sizeof(msp_header_v2_t) + 1) {
+                    msp->msp_version = MSP_V2_OVER_V1;
+                    msp->c_state = MSP_HEADER_V2_OVER_V1;
                 } else {
-                    msp->data_size = hdr->size;
-                    msp->cmd_msp = hdr->cmd;
-                    msp->cmd_flags = 0;
-                    msp->offset = 0;                // re-use buffer
-                    msp->c_state = msp->data_size > 0 ? MSP_PAYLOAD_V1 : MSP_CHECKSUM_V1;    // If no payload - jump to checksum byte
+                    msp->c_state = MSP_IDLE;
                 }
+            } else {
+                msp->data_size = hdr->size;
+                msp->cmd_msp = hdr->cmd;
+                msp->cmd_flags = 0;
+                msp->offset = 0;                // re-use buffer
+                msp->c_state = msp->data_size > 0 ? MSP_PAYLOAD_V1 : MSP_CHECKSUM_V1;    // If no payload - jump to checksum byte
             }
-            break;
+        }
+        break;
 
-        case MSP_PAYLOAD_V1:
-            msp->in_buf[msp->offset++] = c;
-            msp->checksum1 ^= c;
-            if (msp->offset == msp->data_size) {
-                msp->c_state = MSP_CHECKSUM_V1;
-            }
-            break;
+    case MSP_PAYLOAD_V1:
+        msp->in_buf[msp->offset++] = c;
+        msp->checksum1 ^= c;
+        if (msp->offset == msp->data_size) {
+            msp->c_state = MSP_CHECKSUM_V1;
+        }
+        break;
 
-        case MSP_CHECKSUM_V1:
-            if (msp->checksum1 == c) {
-                msp->c_state = MSP_COMMAND_RECEIVED;
-            } else {
+    case MSP_CHECKSUM_V1:
+        if (msp->checksum1 == c) {
+            msp->c_state = MSP_COMMAND_RECEIVED;
+        } else {
+            msp->c_state = MSP_IDLE;
+        }
+        break;
+
+    case MSP_HEADER_V2_OVER_V1:     // V2 header is part of V1 payload - we need to calculate both checksums now
+        msp->in_buf[msp->offset++] = c;
+        msp->checksum1 ^= c;
+        msp->checksum2 = crc8_dvb_s2(msp->checksum2, c);
+        if (msp->offset == (sizeof(msp_header_v2_t) + sizeof(msp_header_v1_t))) {
+            msp_header_v2_t * hdrv2 = (msp_header_v2_t *)&msp->in_buf[sizeof(msp_header_v1_t)];
+            msp->data_size = hdrv2->size;
+
+            // Check for potential buffer overflow
+            if (hdrv2->size > MSP_PORT_INBUF_SIZE) {
                 msp->c_state = MSP_IDLE;
+            } else {
+                msp->cmd_msp = hdrv2->cmd;
+                msp->cmd_flags = hdrv2->flags;
+                msp->offset = 0;                // re-use buffer
+                msp->c_state = msp->data_size > 0 ? MSP_PAYLOAD_V2_OVER_V1 : MSP_CHECKSUM_V2_OVER_V1;
             }
-            break;
+        }
+        break;
 
-        case MSP_HEADER_V2_OVER_V1:     // V2 header is part of V1 payload - we need to calculate both checksums now
-            msp->in_buf[msp->offset++] = c;
-            msp->checksum1 ^= c;
-            msp->checksum2 = crc8_dvb_s2(msp->checksum2, c);
-            if (msp->offset == (sizeof(msp_header_v2_t) + sizeof(msp_header_v1_t))) {
-                msp_header_v2_t * hdrv2 = (msp_header_v2_t *)&msp->in_buf[sizeof(msp_header_v1_t)];
-                msp->data_size = hdrv2->size;
+    case MSP_PAYLOAD_V2_OVER_V1:
+        msp->checksum2 = crc8_dvb_s2(msp->checksum2, c);
+        msp->checksum1 ^= c;
+        msp->in_buf[msp->offset++] = c;
 
-                // Check for potential buffer overflow
-                if (hdrv2->size > MSP_PORT_INBUF_SIZE) {
-                    msp->c_state = MSP_IDLE;
-                } else {
-                    msp->cmd_msp = hdrv2->cmd;
-                    msp->cmd_flags = hdrv2->flags;
-                    msp->offset = 0;                // re-use buffer
-                    msp->c_state = msp->data_size > 0 ? MSP_PAYLOAD_V2_OVER_V1 : MSP_CHECKSUM_V2_OVER_V1;
-                }
-            }
-            break;
+        if (msp->offset == msp->data_size) {
+            msp->c_state = MSP_CHECKSUM_V2_OVER_V1;
+        }
+        break;
 
-        case MSP_PAYLOAD_V2_OVER_V1:
-            msp->checksum2 = crc8_dvb_s2(msp->checksum2, c);
-            msp->checksum1 ^= c;
-            msp->in_buf[msp->offset++] = c;
+    case MSP_CHECKSUM_V2_OVER_V1:
+        msp->checksum1 ^= c;
+        if (msp->checksum2 == c) {
+            msp->c_state = MSP_CHECKSUM_V1; // Checksum 2 correct - verify v1 checksum
+        } else {
+            msp->c_state = MSP_IDLE;
+        }
+        break;
 
-            if (msp->offset == msp->data_size) {
-                msp->c_state = MSP_CHECKSUM_V2_OVER_V1;
-            }
-            break;
+    case MSP_HEADER_V2_NATIVE:
+        msp->in_buf[msp->offset++] = c;
+        msp->checksum2 = crc8_dvb_s2(msp->checksum2, c);
+        if (msp->offset == sizeof(msp_header_v2_t)) {
+            msp_header_v2_t * hdrv2 = (msp_header_v2_t *)&msp->in_buf[0];
 
-        case MSP_CHECKSUM_V2_OVER_V1:
-            msp->checksum1 ^= c;
-            if (msp->checksum2 == c) {
-                msp->c_state = MSP_CHECKSUM_V1; // Checksum 2 correct - verify v1 checksum
-            } else {
+            // Check for potential buffer overflow
+            if (hdrv2->size > MSP_PORT_INBUF_SIZE) {
                 msp->c_state = MSP_IDLE;
+            } else {
+                msp->data_size = hdrv2->size;
+                msp->cmd_msp = hdrv2->cmd;
+                msp->cmd_flags = hdrv2->flags;
+                msp->offset = 0;                // re-use buffer
+                msp->c_state = msp->data_size > 0 ? MSP_PAYLOAD_V2_NATIVE : MSP_CHECKSUM_V2_NATIVE;
             }
-            break;
-
-        case MSP_HEADER_V2_NATIVE:
-            msp->in_buf[msp->offset++] = c;
-            msp->checksum2 = crc8_dvb_s2(msp->checksum2, c);
-            if (msp->offset == sizeof(msp_header_v2_t)) {
-                msp_header_v2_t * hdrv2 = (msp_header_v2_t *)&msp->in_buf[0];
-
-                // Check for potential buffer overflow
-                if (hdrv2->size > MSP_PORT_INBUF_SIZE) {
-                    msp->c_state = MSP_IDLE;
-                } else {
-                    msp->data_size = hdrv2->size;
-                    msp->cmd_msp = hdrv2->cmd;
-                    msp->cmd_flags = hdrv2->flags;
-                    msp->offset = 0;                // re-use buffer
-                    msp->c_state = msp->data_size > 0 ? MSP_PAYLOAD_V2_NATIVE : MSP_CHECKSUM_V2_NATIVE;
-                }
-            }
-            break;
+        }
+        break;
 
-        case MSP_PAYLOAD_V2_NATIVE:
-            msp->checksum2 = crc8_dvb_s2(msp->checksum2, c);
-            msp->in_buf[msp->offset++] = c;
+    case MSP_PAYLOAD_V2_NATIVE:
+        msp->checksum2 = crc8_dvb_s2(msp->checksum2, c);
+        msp->in_buf[msp->offset++] = c;
 
-            if (msp->offset == msp->data_size) {
-                msp->c_state = MSP_CHECKSUM_V2_NATIVE;
-            }
-            break;
+        if (msp->offset == msp->data_size) {
+            msp->c_state = MSP_CHECKSUM_V2_NATIVE;
+        }
+        break;
 
-        case MSP_CHECKSUM_V2_NATIVE:
-            if (msp->checksum2 == c) {
-                msp->c_state = MSP_COMMAND_RECEIVED;
-            } else {
-                msp->c_state = MSP_IDLE;
-            }
-            break;
+    case MSP_CHECKSUM_V2_NATIVE:
+        if (msp->checksum2 == c) {
+            msp->c_state = MSP_COMMAND_RECEIVED;
+        } else {
+            msp->c_state = MSP_IDLE;
+        }
+        break;
     }
     return true;
 }