diff --git a/libraries/AP_Math/AP_Math.cpp b/libraries/AP_Math/AP_Math.cpp
index abb8a360c8..d2ec0879f9 100644
--- a/libraries/AP_Math/AP_Math.cpp
+++ b/libraries/AP_Math/AP_Math.cpp
@@ -5,16 +5,16 @@
 // returned.
 float safe_asin(float v)
 {
-	if (isnan(v)) {
-		return 0.0;
-	}
-	if (v >= 1.0) {
-		return PI/2;
-	}
-	if (v <= -1.0) {
-		return -PI/2;
-	}
-	return asin(v);
+    if (isnan(v)) {
+        return 0.0;
+    }
+    if (v >= 1.0) {
+        return PI/2;
+    }
+    if (v <= -1.0) {
+        return -PI/2;
+    }
+    return asin(v);
 }
 
 // a varient of sqrt() that checks the input ranges and ensures a
@@ -24,11 +24,11 @@ float safe_asin(float v)
 // real input should have been zero
 float safe_sqrt(float v)
 {
-	float ret = sqrt(v);
-	if (isnan(ret)) {
-		return 0;
-	}
-	return ret;
+    float ret = sqrt(v);
+    if (isnan(ret)) {
+        return 0;
+    }
+    return ret;
 }
 
 
@@ -39,31 +39,31 @@ float safe_sqrt(float v)
 // optional 'found' parameter is for the test suite to ensure that it is.
 enum Rotation rotation_combination(enum Rotation r1, enum Rotation r2, bool *found)
 {
-	Vector3f tv1, tv2;
-	enum Rotation r;
-	tv1(1,2,3);
-	tv1.rotate(r1);
-	tv1.rotate(r2);
+    Vector3f tv1, tv2;
+    enum Rotation r;
+    tv1(1,2,3);
+    tv1.rotate(r1);
+    tv1.rotate(r2);
 
-	for (r=ROTATION_NONE; r<ROTATION_MAX;
-	     r = (enum Rotation)((uint8_t)r+1)) {
-		Vector3f diff;
-		tv2(1,2,3);
-		tv2.rotate(r);
-		diff = tv1 - tv2;
-		if (diff.length() < 1.0e-6) {
-			// we found a match
-			if (found) {
-				*found = true;
-			}
-			return r;
-		}
-	}
+    for (r=ROTATION_NONE; r<ROTATION_MAX;
+         r = (enum Rotation)((uint8_t)r+1)) {
+        Vector3f diff;
+        tv2(1,2,3);
+        tv2.rotate(r);
+        diff = tv1 - tv2;
+        if (diff.length() < 1.0e-6) {
+            // we found a match
+            if (found) {
+                *found = true;
+            }
+            return r;
+        }
+    }
 
-	// we found no matching rotation. Someone has edited the
-	// rotations list and broken its completeness property ...
-	if (found) {
-		*found = false;
-	}
-	return ROTATION_NONE;
+    // we found no matching rotation. Someone has edited the
+    // rotations list and broken its completeness property ...
+    if (found) {
+        *found = false;
+    }
+    return ROTATION_NONE;
 }