diff --git a/APMrover2/crash_check.cpp b/APMrover2/crash_check.cpp
index 2589489198..7431efaf52 100644
--- a/APMrover2/crash_check.cpp
+++ b/APMrover2/crash_check.cpp
@@ -10,57 +10,56 @@ static const float CRASH_CHECK_VEL_MIN = 0.08f;      // vehicle must have a velo
 // called at 10Hz
 void Rover::crash_check()
 {
-  static uint16_t crash_counter;  // number of iterations vehicle may have been crashed
-  bool crashed = false; //stores crash state
+    static uint16_t crash_counter;  // number of iterations vehicle may have been crashed
+    bool crashed = false; //stores crash state
 
-  // return immediately if disarmed, crash checking is disabled or vehicle is Hold, Manual or Acro mode(if it is not a balance bot)
-  if (!arming.is_armed() || g.fs_crash_check == FS_CRASH_DISABLE || ((!control_mode->is_autopilot_mode()) && (!is_balancebot()))) {
-    crash_counter = 0;
-    return;
-  }
-
-  // Crashed if pitch/roll > crash_angle
-  if ((g2.crash_angle != 0) && ((fabsf(ahrs.pitch) > radians(g2.crash_angle)) || (fabsf(ahrs.roll) > radians(g2.crash_angle)))) {
-    crashed = true;
-  }
-
-  // TODO : Check if min vel can be calculated
-  // min_vel = ( CRASH_CHECK_THROTTLE_MIN * g.speed_cruise) / g.throttle_cruise;
-
-  if (!is_balancebot()) {
-      if (!crashed && ((ahrs.groundspeed() >= CRASH_CHECK_VEL_MIN) ||        // Check velocity
-          (fabsf(ahrs.get_gyro().z) >= CRASH_CHECK_VEL_MIN) ||  // Check turn speed
-          (fabsf(g2.motors.get_throttle()) < CRASH_CHECK_THROTTLE_MIN))) {
+    // return immediately if disarmed, crash checking is disabled or vehicle is Hold, Manual or Acro mode(if it is not a balance bot)
+    if (!arming.is_armed() || g.fs_crash_check == FS_CRASH_DISABLE || ((!control_mode->is_autopilot_mode()) && (!is_balancebot()))) {
         crash_counter = 0;
         return;
-      }
+    }
 
-      // we may be crashing
-      crash_counter++;
-
-      // check if crashing for 2 seconds
-      if (crash_counter >= (CRASH_CHECK_TRIGGER_SEC * 10)) {
+    // Crashed if pitch/roll > crash_angle
+    if ((g2.crash_angle != 0) && ((fabsf(ahrs.pitch) > radians(g2.crash_angle)) || (fabsf(ahrs.roll) > radians(g2.crash_angle)))) {
         crashed = true;
-      }
-  }
+    }
 
-  if (crashed) {
-    // log an error in the dataflash
-    Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH);
+    // TODO : Check if min vel can be calculated
+    // min_vel = ( CRASH_CHECK_THROTTLE_MIN * g.speed_cruise) / g.throttle_cruise;
 
-    if (is_balancebot()) {
-        // send message to gcs
-        gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash: Disarming");
-        disarm_motors();
-    } else {
-        // send message to gcs
-        gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash: Going to HOLD");
-        // change mode to hold and disarm
-        set_mode(mode_hold, MODE_REASON_CRASH_FAILSAFE);
-        if (g.fs_crash_check == FS_CRASH_HOLD_AND_DISARM) {
-            disarm_motors();
+    if (!is_balancebot()) {
+        if (!crashed && ((ahrs.groundspeed() >= CRASH_CHECK_VEL_MIN) ||        // Check velocity
+            (fabsf(ahrs.get_gyro().z) >= CRASH_CHECK_VEL_MIN) ||  // Check turn speed
+            (fabsf(g2.motors.get_throttle()) < CRASH_CHECK_THROTTLE_MIN))) {
+            crash_counter = 0;
+            return;
+        }
+
+        // we may be crashing
+        crash_counter++;
+
+        // check if crashing for 2 seconds
+        if (crash_counter >= (CRASH_CHECK_TRIGGER_SEC * 10)) {
+            crashed = true;
         }
     }
 
-  }
+    if (crashed) {
+        // log an error in the dataflash
+        Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH);
+
+        if (is_balancebot()) {
+            // send message to gcs
+            gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash: Disarming");
+            disarm_motors();
+        } else {
+            // send message to gcs
+            gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash: Going to HOLD");
+            // change mode to hold and disarm
+            set_mode(mode_hold, MODE_REASON_CRASH_FAILSAFE);
+            if (g.fs_crash_check == FS_CRASH_HOLD_AND_DISARM) {
+                disarm_motors();
+            }
+        }
+    }
 }