diff --git a/libraries/AP_Math/AP_Math.h b/libraries/AP_Math/AP_Math.h
index 3bf86f3191..a5b2022638 100644
--- a/libraries/AP_Math/AP_Math.h
+++ b/libraries/AP_Math/AP_Math.h
@@ -48,19 +48,22 @@ template <class T>
 float safe_sqrt(const T v);
 
 // return determinant of square matrix
-float                   detnxn(const float C[], const uint8_t n);
+float detnxn(const float C[], const uint8_t n);
 
 // Output inverted nxn matrix when returns true, otherwise matrix is Singular
-bool                    inversenxn(const float x[], float y[], const uint8_t n);
+bool inversenxn(const float x[], float y[], const uint8_t n);
 
 // invOut is an inverted 4x4 matrix when returns true, otherwise matrix is Singular
-bool                    inverse3x3(float m[], float invOut[]);
+bool inverse3x3(float m[], float invOut[]);
 
 // invOut is an inverted 3x3 matrix when returns true, otherwise matrix is Singular
-bool                    inverse4x4(float m[],float invOut[]);
+bool inverse4x4(float m[],float invOut[]);
 
 // matrix multiplication of two NxN matrices
-float* mat_mul(float *A, float *B, uint8_t n);
+float *mat_mul(float *A, float *B, uint8_t n);
+
+// matrix algebra
+bool inverse(float x[], float y[], uint16_t dim);
 
 /*
  * Constrain an angle to be within the range: -180 to 180 degrees. The second
@@ -112,18 +115,16 @@ auto const constrain_float = &constrain_value<float>;
 auto const constrain_int16 = &constrain_value<int16_t>;
 auto const constrain_int32 = &constrain_value<int32_t>;
 
-
-//matrix algebra
-bool inverse(float x[], float y[], uint16_t dim);
-
 // degrees -> radians
-static inline float radians(float deg) {
-	return deg * DEG_TO_RAD;
+static inline float radians(float deg)
+{
+    return deg * DEG_TO_RAD;
 }
 
 // radians -> degrees
-static inline float degrees(float rad) {
-	return rad * RAD_TO_DEG;
+static inline float degrees(float rad)
+{
+    return rad * RAD_TO_DEG;
 }
 
 template<class T>
@@ -153,12 +154,14 @@ float norm(const T first, const Params... parameters)
 }
 
 template<typename A, typename B>
-static inline auto MIN(const A &one, const B &two) -> decltype(one < two ? one : two) {
+static inline auto MIN(const A &one, const B &two) -> decltype(one < two ? one : two)
+{
     return one < two ? one : two;
 }
 
 template<typename A, typename B>
-static inline auto MAX(const A &one, const B &two) -> decltype(one > two ? one : two) {
+static inline auto MAX(const A &one, const B &two) -> decltype(one > two ? one : two)
+{
     return one > two ? one : two;
 }
 
@@ -198,4 +201,3 @@ inline uint32_t usec_to_hz(uint32_t usec)
 float linear_interpolate(float low_output, float high_output,
                          float var_value,
                          float var_low, float var_high);
-