diff --git a/libraries/AP_Compass/AP_Compass_UAVCAN.cpp b/libraries/AP_Compass/AP_Compass_UAVCAN.cpp
index 4896a1e81a..db635a5395 100644
--- a/libraries/AP_Compass/AP_Compass_UAVCAN.cpp
+++ b/libraries/AP_Compass/AP_Compass_UAVCAN.cpp
@@ -171,29 +171,29 @@ void AP_Compass_UAVCAN::handle_magnetic_field(AP_UAVCAN* ap_uavcan, uint8_t node
 {
     WITH_SEMAPHORE(_sem_registry);
 
-        Vector3f mag_vector;
-        AP_Compass_UAVCAN* driver = get_uavcan_backend(ap_uavcan, node_id, 0);
-        if (driver != nullptr) {
-            mag_vector[0] = cb.msg->magnetic_field_ga[0];
-            mag_vector[1] = cb.msg->magnetic_field_ga[1];
-            mag_vector[2] = cb.msg->magnetic_field_ga[2];
-            driver->handle_mag_msg(mag_vector);
-        }
+    Vector3f mag_vector;
+    AP_Compass_UAVCAN* driver = get_uavcan_backend(ap_uavcan, node_id, 0);
+    if (driver != nullptr) {
+        mag_vector[0] = cb.msg->magnetic_field_ga[0];
+        mag_vector[1] = cb.msg->magnetic_field_ga[1];
+        mag_vector[2] = cb.msg->magnetic_field_ga[2];
+        driver->handle_mag_msg(mag_vector);
+    }
 }
 
 void AP_Compass_UAVCAN::handle_magnetic_field_2(AP_UAVCAN* ap_uavcan, uint8_t node_id, const Mag2Cb &cb)
 {
     WITH_SEMAPHORE(_sem_registry);
 
-        Vector3f mag_vector;
-        uint8_t sensor_id = cb.msg->sensor_id;
-        AP_Compass_UAVCAN* driver = get_uavcan_backend(ap_uavcan, node_id, sensor_id);
-        if (driver != nullptr) {
-            mag_vector[0] = cb.msg->magnetic_field_ga[0];
-            mag_vector[1] = cb.msg->magnetic_field_ga[1];
-            mag_vector[2] = cb.msg->magnetic_field_ga[2];
-            driver->handle_mag_msg(mag_vector);
-        }
+    Vector3f mag_vector;
+    uint8_t sensor_id = cb.msg->sensor_id;
+    AP_Compass_UAVCAN* driver = get_uavcan_backend(ap_uavcan, node_id, sensor_id);
+    if (driver != nullptr) {
+        mag_vector[0] = cb.msg->magnetic_field_ga[0];
+        mag_vector[1] = cb.msg->magnetic_field_ga[1];
+        mag_vector[2] = cb.msg->magnetic_field_ga[2];
+        driver->handle_mag_msg(mag_vector);
+    }
 }
 
 void AP_Compass_UAVCAN::read(void)