diff --git a/libraries/AP_Scheduler/AP_Scheduler.h b/libraries/AP_Scheduler/AP_Scheduler.h
index 73221a45d2..9b79e1063d 100644
--- a/libraries/AP_Scheduler/AP_Scheduler.h
+++ b/libraries/AP_Scheduler/AP_Scheduler.h
@@ -29,7 +29,7 @@
   A task scheduler for APM main loops
 
   Sketches should call scheduler.init() on startup, then call
-  scheduler.tick() at regular intervals (typically every 10ms). 
+  scheduler.tick() at regular intervals (typically every 10ms).
 
   To run tasks use scheduler.run(), passing the amount of time that
   the scheduler is allowed to use before it must return
@@ -53,25 +53,25 @@ public:
     typedef void (*task_fn_t)(void);
 #endif
 
-	struct Task {
-		task_fn_t function;
-		uint16_t interval_ticks;
-		uint16_t max_time_micros;
-	};
+    struct Task {
+        task_fn_t function;
+        uint16_t interval_ticks;
+        uint16_t max_time_micros;
+    };
 
-	// initialise scheduler
-	void init(const Task *tasks, uint8_t num_tasks, void *classptr);
+    // initialise scheduler
+    void init(const Task *tasks, uint8_t num_tasks, void *classptr);
 
-	// call when one tick has passed
-	void tick(void);
+    // call when one tick has passed
+    void tick(void);
 
-	// run the tasks. Call this once per 'tick'. 
-	// time_available is the amount of time available to run 
-	// tasks in microseconds
-	void run(uint16_t time_available);
+    // run the tasks. Call this once per 'tick'.
+    // time_available is the amount of time available to run
+    // tasks in microseconds
+    void run(uint16_t time_available);
 
-	// return the number of microseconds available for the current task
-	uint16_t time_available_usec(void);
+    // return the number of microseconds available for the current task
+    uint16_t time_available_usec(void);
 
     // return debug parameter
     uint8_t debug(void) { return _debug; }
@@ -81,33 +81,33 @@ public:
     // end of a run()
     float load_average(uint32_t tick_time_usec) const;
 
-	static const struct AP_Param::GroupInfo var_info[];
+    static const struct AP_Param::GroupInfo var_info[];
 
     // current running task, or -1 if none. Used to debug stuck tasks
     static int8_t current_task;
 
 private:
-	// used to enable scheduler debugging
-	AP_Int8 _debug;
-	
-	// progmem list of tasks to run
-	const struct Task *_tasks;
-	
-	// number of tasks in _tasks list
-	uint8_t _num_tasks;
+    // used to enable scheduler debugging
+    AP_Int8 _debug;
 
-	// number of 'ticks' that have passed (number of times that
-	// tick() has been called
-	uint16_t _tick_counter;
+    // progmem list of tasks to run
+    const struct Task *_tasks;
 
-	// tick counter at the time we last ran each task
-	uint16_t *_last_run;
+    // number of tasks in _tasks list
+    uint8_t _num_tasks;
 
-	// number of microseconds allowed for the current task
-	uint32_t _task_time_allowed;
+    // number of 'ticks' that have passed (number of times that
+    // tick() has been called
+    uint16_t _tick_counter;
 
-	// the time in microseconds when the task started
-	uint32_t _task_time_started;
+    // tick counter at the time we last ran each task
+    uint16_t *_last_run;
+
+    // number of microseconds allowed for the current task
+    uint32_t _task_time_allowed;
+
+    // the time in microseconds when the task started
+    uint32_t _task_time_started;
 
     // number of spare microseconds accumulated
     uint32_t _spare_micros;