diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.h b/libraries/AP_NavEKF2/AP_NavEKF2.h
index 42b1e1ade6..20a64694cc 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.h
@@ -367,7 +367,7 @@ public:
 
     // log debug data for yaw estimator
     // return false if data not available
-	bool getDataEKFGSF(int8_t instance, float &yaw_composite, float &yaw_composite_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]) const;
+    bool getDataEKFGSF(int8_t instance, float &yaw_composite, float &yaw_composite_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]) const;
 
 private:
     uint8_t num_cores; // number of allocated cores
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
index c0cf5d340e..4e18d13880 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
@@ -1255,7 +1255,7 @@ private:
     float InitialGyroBiasUncertainty(void) const;
 
     // The following declarations are used to control when the main navigation filter resets it's yaw to the estimate provided by the GSF
-    uint32_t EKFGSF_yaw_reset_ms;	        // timestamp of last emergency yaw reset (uSec)
+    uint32_t EKFGSF_yaw_reset_ms;           // timestamp of last emergency yaw reset (uSec)
     uint32_t EKFGSF_yaw_reset_request_ms;   // timestamp of last emergency yaw reset request (uSec)
     uint8_t EKFGSF_yaw_reset_count;         // number of emergency yaw resets performed
     bool EKFGSF_run_filterbank;             // true when the filter bank is active