diff --git a/libraries/AC_AutoTune/AC_AutoTune.h b/libraries/AC_AutoTune/AC_AutoTune.h
index 4ff35df6dd..ca18442d12 100644
--- a/libraries/AC_AutoTune/AC_AutoTune.h
+++ b/libraries/AC_AutoTune/AC_AutoTune.h
@@ -197,7 +197,7 @@ protected:
     enum StepType {
         WAITING_FOR_LEVEL = 0,    // autotune is waiting for vehicle to return to level before beginning the next twitch
         TESTING           = 1,    // autotune has begun a test and is watching the resulting vehicle movement
-        UPDATE_GAINS      = 2     // autotune has completed a test and is updating the gains based on the results
+        UPDATE_GAINS      = 2,    // autotune has completed a test and is updating the gains based on the results
     };
 
     // mini steps performed while in Tuning mode, Testing step
@@ -272,13 +272,13 @@ protected:
     int8_t   counter;                               // counter for tuning gains
     float    target_rate;                           // target rate-multi only
     float    target_angle;                          // target angle-multi only
-    float    start_rate;                            // start rate - parent and multi
     float    start_angle;                           // start angle
+    float    start_rate;                            // start rate - parent and multi
     float    rate_max;                              // maximum rate variable - parent and multi
     float    test_accel_max;                        // maximum acceleration variable
-    float    step_scaler;                           // scaler to reduce maximum target step - parent and multi
     float    angle_finish;                           // Angle that test is aborted- parent and multi
     float    desired_yaw_cd;                        // yaw heading during tune - parent and Tradheli
+    float    step_scaler;                           // scaler to reduce maximum target step - parent and multi
 
     LowPassFilterFloat  rotation_rate_filt;         // filtered rotation rate in radians/second
 
diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
index 940cd48e6f..d3ffdefe1a 100644
--- a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
@@ -1189,17 +1189,17 @@ void AC_AutoTune_Multi::twitch_test_init()
     float target_max_rate;
     switch (axis) {
     case ROLL: {
-        target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
-        target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_roll())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate);
-        target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_roll())*100.0f, target_angle_min_rp_cd(), target_angle_max_rp_cd());
-        rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_roll_pid().filt_D_hz()*2.0f);
+        target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler * AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
+        target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_roll()) * 100.0, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate);
+        target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_roll()) * 100.0, target_angle_min_rp_cd(), target_angle_max_rp_cd());
+        rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_roll_pid().filt_D_hz() * 2.0);
         break;
     }
     case PITCH: {
-        target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
-        target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_pitch())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate);
-        target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_pitch())*100.0f, target_angle_min_rp_cd(), target_angle_max_rp_cd());
-        rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_pitch_pid().filt_D_hz()*2.0f);
+        target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler * AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
+        target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_pitch()) * 100.0, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate);
+        target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_pitch()) * 100.0, target_angle_min_rp_cd(), target_angle_max_rp_cd());
+        rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_pitch_pid().filt_D_hz() * 2.0);
         break;
     }
     case YAW:
diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.h b/libraries/AC_AutoTune/AC_AutoTune_Multi.h
index 3650c85bff..3308ae5d8a 100644
--- a/libraries/AC_AutoTune/AC_AutoTune_Multi.h
+++ b/libraries/AC_AutoTune/AC_AutoTune_Multi.h
@@ -182,9 +182,9 @@ private:
     void report_axis_gains(const char* axis_string, float rate_P, float rate_I, float rate_D, float angle_P, float max_accel) const;
 
     // parameters
-    AP_Int8  axis_bitmask;        // axes to be tuned
-    AP_Float aggressiveness;      // aircraft response aggressiveness to be tuned
-    AP_Float min_d;               // minimum rate d gain allowed during tuning
+    AP_Int8  axis_bitmask;      // axes to be tuned
+    AP_Float aggressiveness;    // aircraft response aggressiveness to be tuned
+    AP_Float min_d;             // minimum rate d gain allowed during tuning
 };
 
 #endif  // AC_AUTOTUNE_ENABLED