diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index dfdc0a61e4..4961aa05af 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -215,7 +215,7 @@ void Copter::send_pid_tuning(mavlink_channel_t chan)
     const Vector3f &gyro = ahrs.get_gyro();
     if (g.gcs_pid_mask & 1) {
         const DataFlash_Class::PID_Info &pid_info = attitude_control->get_rate_roll_pid().get_pid_info();
-        mavlink_msg_pid_tuning_send(chan, PID_TUNING_ROLL, 
+        mavlink_msg_pid_tuning_send(chan, PID_TUNING_ROLL,
                                     pid_info.desired*0.01f,
                                     degrees(gyro.x),
                                     pid_info.FF*0.01f,
@@ -228,7 +228,7 @@ void Copter::send_pid_tuning(mavlink_channel_t chan)
     }
     if (g.gcs_pid_mask & 2) {
         const DataFlash_Class::PID_Info &pid_info = attitude_control->get_rate_pitch_pid().get_pid_info();
-        mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH, 
+        mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
                                     pid_info.desired*0.01f,
                                     degrees(gyro.y),
                                     pid_info.FF*0.01f,
@@ -241,7 +241,7 @@ void Copter::send_pid_tuning(mavlink_channel_t chan)
     }
     if (g.gcs_pid_mask & 4) {
         const DataFlash_Class::PID_Info &pid_info = attitude_control->get_rate_yaw_pid().get_pid_info();
-        mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW, 
+        mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
                                     pid_info.desired*0.01f,
                                     degrees(gyro.z),
                                     pid_info.FF*0.01f,
@@ -254,7 +254,7 @@ void Copter::send_pid_tuning(mavlink_channel_t chan)
     }
     if (g.gcs_pid_mask & 8) {
         const DataFlash_Class::PID_Info &pid_info = copter.pos_control->get_accel_z_pid().get_pid_info();
-        mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ, 
+        mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
                                     pid_info.desired*0.01f,
                                     -(ahrs.get_accel_ef_blended().z + GRAVITY_MSS),
                                     pid_info.FF*0.01f,
@@ -413,7 +413,7 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
 
     case MSG_MOUNT_STATUS:
 #if MOUNT == ENABLED
-        CHECK_PAYLOAD_SIZE(MOUNT_STATUS);    
+        CHECK_PAYLOAD_SIZE(MOUNT_STATUS);
         copter.camera_mount.status_msg(chan);
 #endif // MOUNT == ENABLED
         break;
diff --git a/ArduCopter/switches.cpp b/ArduCopter/switches.cpp
index 5c38e7808c..dae91eb709 100644
--- a/ArduCopter/switches.cpp
+++ b/ArduCopter/switches.cpp
@@ -78,7 +78,7 @@ void Copter::read_control_switch()
 // check_if_auxsw_mode_used - Check to see if any of the Aux Switches are set to a given mode.
 bool Copter::check_if_auxsw_mode_used(uint8_t auxsw_mode_check)
 {
-    bool ret = g.ch7_option == auxsw_mode_check || g.ch8_option == auxsw_mode_check || g.ch9_option == auxsw_mode_check 
+    bool ret = g.ch7_option == auxsw_mode_check || g.ch8_option == auxsw_mode_check || g.ch9_option == auxsw_mode_check
                 || g.ch10_option == auxsw_mode_check || g.ch11_option == auxsw_mode_check || g.ch12_option == auxsw_mode_check;
 
     return ret;
@@ -180,7 +180,7 @@ void Copter::init_aux_switches()
 
 // init_aux_switch_function - initialize aux functions
 void Copter::init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
-{    
+{
     // init channel options
     switch(ch_option) {
         case AUXSW_SIMPLE_MODE:
diff --git a/ArduCopter/tuning.cpp b/ArduCopter/tuning.cpp
index 41f14375a1..6d8c3c274f 100644
--- a/ArduCopter/tuning.cpp
+++ b/ArduCopter/tuning.cpp
@@ -10,7 +10,7 @@
 void Copter::tuning() {
     RC_Channel *rc6 = RC_Channels::rc_channel(CH_6);
 
-    // exit immediately if not using tuning function, or when radio failsafe is invoked, so tuning values are not set to zero    
+    // exit immediately if not using tuning function, or when radio failsafe is invoked, so tuning values are not set to zero
     if ((g.radio_tuning <= 0) || failsafe.radio || failsafe.radio_counter != 0 || rc6->get_radio_in() == 0) {
         return;
     }