diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
index 492fc9a2c3..3e8b6019f1 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
@@ -1,65 +1,65 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
-/*
-	AP_RangeFinder_MaxsonarXL.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
-	infrared proximity sensor
-	Code by Jose Julio and Randy Mackay. DIYDrones.com
-
-	This library is free software; you can redistribute it and/or
-    modify it under the terms of the GNU Lesser General Public
-    License as published by the Free Software Foundation; either
-    version 2.1 of the License, or (at your option) any later version.
-
-	Sparkfun URL: http://www.sparkfun.com/products/9491
-	datasheet: http://www.sparkfun.com/datasheets/Sensors/Proximity/XL-EZ0-Datasheet.pdf
-
-	Sensor should be connected to one of the analog ports
-
-	Variables:
-		int raw_value : raw value from the sensor
-		int distance : distance in cm
-		int max_distance : maximum measurable distance (in cm)
-		int min_distance : minimum measurable distance (in cm)
-
-	Methods:
-		read() : read value from analog port and returns the distance (in cm)
-
-*/
-
-// AVR LibC Includes
-#include "WConstants.h"
-#include "AP_RangeFinder_MaxsonarXL.h"
-
-// Constructor //////////////////////////////////////////////////////////////
-
-AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source,
-                                                     ModeFilter *filter) :
-	RangeFinder(source, filter), _scaler(AP_RANGEFINDER_MAXSONARXL_SCALER)
-{
-    max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
-	min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
-}
-
-// Public Methods //////////////////////////////////////////////////////////////
-float AP_RangeFinder_MaxsonarXL::calculate_scaler(int sonar_type, float adc_refence_voltage)
-{
-    float type_scaler = 1.0;
-	switch(sonar_type) {
-		case AP_RANGEFINDER_MAXSONARXL:
-		    type_scaler = AP_RANGEFINDER_MAXSONARXL_SCALER;
-		    min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
-		    max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
-			break;
-		case AP_RANGEFINDER_MAXSONARLV:
-		    type_scaler = AP_RANGEFINDER_MAXSONARLV_SCALER;
-		    min_distance = AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE;
-		    max_distance = AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE;
-			break;
-		case AP_RANGEFINDER_MAXSONARXLL:
-		    type_scaler = AP_RANGEFINDER_MAXSONARXLL_SCALER;
-		    min_distance = AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE;
-		    max_distance = AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE;
-			break;
-    }
-	_scaler = type_scaler * adc_refence_voltage / 5.0;
-	return _scaler;
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
+/*
+	AP_RangeFinder_MaxsonarXL.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
+	infrared proximity sensor
+	Code by Jose Julio and Randy Mackay. DIYDrones.com
+
+	This library is free software; you can redistribute it and/or
+    modify it under the terms of the GNU Lesser General Public
+    License as published by the Free Software Foundation; either
+    version 2.1 of the License, or (at your option) any later version.
+
+	Sparkfun URL: http://www.sparkfun.com/products/9491
+	datasheet: http://www.sparkfun.com/datasheets/Sensors/Proximity/XL-EZ0-Datasheet.pdf
+
+	Sensor should be connected to one of the analog ports
+
+	Variables:
+		int raw_value : raw value from the sensor
+		int distance : distance in cm
+		int max_distance : maximum measurable distance (in cm)
+		int min_distance : minimum measurable distance (in cm)
+
+	Methods:
+		read() : read value from analog port and returns the distance (in cm)
+
+*/
+
+// AVR LibC Includes
+#include "WConstants.h"
+#include "AP_RangeFinder_MaxsonarXL.h"
+
+// Constructor //////////////////////////////////////////////////////////////
+
+AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, ModeFilter *filter):
+		RangeFinder(source, filter),
+		_scaler(AP_RANGEFINDER_MAXSONARXL_SCALER)
+	{
+    	max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
+		min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
+	}
+
+// Public Methods //////////////////////////////////////////////////////////////
+float AP_RangeFinder_MaxsonarXL::calculate_scaler(int sonar_type, float adc_refence_voltage)
+{
+    float type_scaler = 1.0;
+	switch(sonar_type) {
+		case AP_RANGEFINDER_MAXSONARXL:
+		    type_scaler = AP_RANGEFINDER_MAXSONARXL_SCALER;
+		    min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
+		    max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
+			break;
+		case AP_RANGEFINDER_MAXSONARLV:
+		    type_scaler = AP_RANGEFINDER_MAXSONARLV_SCALER;
+		    min_distance = AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE;
+		    max_distance = AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE;
+			break;
+		case AP_RANGEFINDER_MAXSONARXLL:
+		    type_scaler = AP_RANGEFINDER_MAXSONARXLL_SCALER;
+		    min_distance = AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE;
+		    max_distance = AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE;
+			break;
+    }
+	_scaler = type_scaler * adc_refence_voltage / 5.0;
+	return _scaler;
 }
\ No newline at end of file
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.h b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.h
index a589e987a5..12780a6dfc 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.h
@@ -1,33 +1,34 @@
-#ifndef AP_RangeFinder_MaxsonarXL_H
-#define AP_RangeFinder_MaxsonarXL_H
-
-#include "RangeFinder.h"
-
-// XL-EZ0 (aka XL)
-#define AP_RANGEFINDER_MAXSONARXL 0
-#define AP_RANGEFINDER_MAXSONARXL_SCALER 1.0
-#define AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE 20
-#define AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE 765
-
-// LV-EZ0 (aka LV)
-#define AP_RANGEFINDER_MAXSONARLV 1
-#define AP_RANGEFINDER_MAXSONARLV_SCALER (2.54/2.0)
-#define AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE 15
-#define AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE 645
-
-// XL-EZL0 (aka XLL)
-#define AP_RANGEFINDER_MAXSONARXLL 2
-#define AP_RANGEFINDER_MAXSONARXLL_SCALER 2.0
-#define AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE 20
-#define AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE 1068
-
-class AP_RangeFinder_MaxsonarXL : public RangeFinder
-{
-  public:
-	AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, ModeFilter *filter);
-	int convert_raw_to_distance(int _raw_value) { return _raw_value * _scaler; }   // read value from analog port and return distance in cm
-	float calculate_scaler(int sonar_type, float adc_refence_voltage); 
-  private:
-    float _scaler;  // used to account for different sonar types
-};
-#endif
+#ifndef AP_RangeFinder_MaxsonarXL_H
+#define AP_RangeFinder_MaxsonarXL_H
+
+#include "RangeFinder.h"
+
+// XL-EZ0 (aka XL)
+#define AP_RANGEFINDER_MAXSONARXL 0
+#define AP_RANGEFINDER_MAXSONARXL_SCALER 1.0
+#define AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE 20
+#define AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE 765
+
+// LV-EZ0 (aka LV)
+#define AP_RANGEFINDER_MAXSONARLV 1
+#define AP_RANGEFINDER_MAXSONARLV_SCALER (2.54/2.0)
+#define AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE 15
+#define AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE 645
+
+// XL-EZL0 (aka XLL)
+#define AP_RANGEFINDER_MAXSONARXLL 2
+#define AP_RANGEFINDER_MAXSONARXLL_SCALER 2.0
+#define AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE 20
+#define AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE 1068
+
+class AP_RangeFinder_MaxsonarXL : public RangeFinder
+{
+  public:
+	AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, ModeFilter *filter);
+	int		convert_raw_to_distance(int _raw_value) { return _raw_value * _scaler; }   // read value from analog port and return distance in cm
+	float	calculate_scaler(int sonar_type, float adc_refence_voltage);
+
+  private:
+    float _scaler;  // used to account for different sonar types
+};
+#endif
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp
index 61f4e7d2ea..bb8a20c896 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp
@@ -1,42 +1,41 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
-/*
-	AP_RangeFinder_SharpGP2Y.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
-	infrared proximity sensor
-	Code by Jose Julio and Randy Mackay. DIYDrones.com
-
-	This library is free software; you can redistribute it and/or
-    modify it under the terms of the GNU Lesser General Public
-    License as published by the Free Software Foundation; either
-    version 2.1 of the License, or (at your option) any later version.
-
-	Sensor should be conected to one of the analog ports
-
-	Sparkfun URL: http://www.sparkfun.com/products/8958
-	datasheet: http://www.sparkfun.com/datasheets/Sensors/Infrared/gp2y0a02yk_e.pdf
-
-	Variables:
-		int raw_value : raw value from the sensor
-		int distance : distance in cm
-		int max_distance : maximum measurable distance (in cm)
-		int min_distance : minimum measurable distance (in cm)
-
-	Methods:
-		read() : read value from analog port
-
-*/
-
-// AVR LibC Includes
-#include "WConstants.h"
-#include "AP_RangeFinder_SharpGP2Y.h"
-
-// Constructor //////////////////////////////////////////////////////////////
-
-AP_RangeFinder_SharpGP2Y::AP_RangeFinder_SharpGP2Y(AP_AnalogSource *source,
-                                                   ModeFilter *filter) :
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
+/*
+	AP_RangeFinder_SharpGP2Y.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
+	infrared proximity sensor
+	Code by Jose Julio and Randy Mackay. DIYDrones.com
+
+	This library is free software; you can redistribute it and/or
+    modify it under the terms of the GNU Lesser General Public
+    License as published by the Free Software Foundation; either
+    version 2.1 of the License, or (at your option) any later version.
+
+	Sensor should be conected to one of the analog ports
+
+	Sparkfun URL: http://www.sparkfun.com/products/8958
+	datasheet: http://www.sparkfun.com/datasheets/Sensors/Infrared/gp2y0a02yk_e.pdf
+
+	Variables:
+		int raw_value : raw value from the sensor
+		int distance : distance in cm
+		int max_distance : maximum measurable distance (in cm)
+		int min_distance : minimum measurable distance (in cm)
+
+	Methods:
+		read() : read value from analog port
+
+*/
+
+// AVR LibC Includes
+#include "WConstants.h"
+#include "AP_RangeFinder_SharpGP2Y.h"
+
+// Constructor //////////////////////////////////////////////////////////////
+
+AP_RangeFinder_SharpGP2Y::AP_RangeFinder_SharpGP2Y(AP_AnalogSource *source, ModeFilter *filter) :
 	RangeFinder(source, filter)
-{
-    max_distance = AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE;
-	min_distance = AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE;
-}
-
-// Public Methods //////////////////////////////////////////////////////////////
+{
+    max_distance = AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE;
+	min_distance = AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE;
+}
+
+// Public Methods //////////////////////////////////////////////////////////////
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.h b/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.h
index 8798857945..4f5a328979 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.h
@@ -1,16 +1,21 @@
-#ifndef AP_RangeFinder_SharpGP2Y_H
-#define AP_RangeFinder_SharpGP2Y_H
-
-#include "RangeFinder.h"
-
-#define AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE 20
-#define AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE 150
-
-class AP_RangeFinder_SharpGP2Y : public RangeFinder
-{
-  public:
+#ifndef AP_RangeFinder_SharpGP2Y_H
+#define AP_RangeFinder_SharpGP2Y_H
+
+#include "RangeFinder.h"
+
+#define AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE 20
+#define AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE 150
+
+class AP_RangeFinder_SharpGP2Y : public RangeFinder
+{
+  public:
 	AP_RangeFinder_SharpGP2Y(AP_AnalogSource *source, ModeFilter *filter);
-	int convert_raw_to_distance(int _raw_value) { if( _raw_value == 0 ) return max_distance; else return 14500/_raw_value; }   // read value from analog port and return distance in cm
-
-};
-#endif
+	int convert_raw_to_distance(int _raw_value) {
+		if( _raw_value == 0 )
+			return max_distance;
+		else
+			return 14500/_raw_value;
+	}   // read value from analog port and return distance in cm
+
+};
+#endif
diff --git a/libraries/AP_RangeFinder/RangeFinder.cpp b/libraries/AP_RangeFinder/RangeFinder.cpp
index 962148eb1c..582e072d60 100644
--- a/libraries/AP_RangeFinder/RangeFinder.cpp
+++ b/libraries/AP_RangeFinder/RangeFinder.cpp
@@ -1,46 +1,45 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
-/*
-	AP_RangeFinder.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
-	infrared proximity sensor
-	Code by Jose Julio and Randy Mackay. DIYDrones.com
-
-	This library is free software; you can redistribute it and/or
-    modify it under the terms of the GNU Lesser General Public
-    License as published by the Free Software Foundation; either
-    version 2.1 of the License, or (at your option) any later version.
-
-	This has the basic functions that all RangeFinders need implemented
-*/
-
-// AVR LibC Includes
-#include "WConstants.h"
-#include "RangeFinder.h"
-
-
-
-// Public Methods //////////////////////////////////////////////////////////////
-
-void RangeFinder::set_orientation(int x, int y, int z)
-{
-    orientation_x = x;
-	orientation_y = y;
-	orientation_z = z;
-}
-
-// Read Sensor data - only the raw_value is filled in by this parent class
-int RangeFinder::read()
-{
-    int temp_dist;
-	
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
+/*
+	AP_RangeFinder.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
+	infrared proximity sensor
+	Code by Jose Julio and Randy Mackay. DIYDrones.com
+
+	This library is free software; you can redistribute it and/or
+    modify it under the terms of the GNU Lesser General Public
+    License as published by the Free Software Foundation; either
+    version 2.1 of the License, or (at your option) any later version.
+
+	This has the basic functions that all RangeFinders need implemented
+*/
+
+// AVR LibC Includes
+#include "WConstants.h"
+#include "RangeFinder.h"
+
+
+
+// Public Methods //////////////////////////////////////////////////////////////
+
+void RangeFinder::set_orientation(int x, int y, int z)
+{
+    orientation_x = x;
+	orientation_y = y;
+	orientation_z = z;
+}
+
+// Read Sensor data - only the raw_value is filled in by this parent class
+int RangeFinder::read()
+{
+    int temp_dist;
+
 	raw_value = _analog_source->read();
-
-	// convert analog value to distance in cm (using child implementation most likely)
-	temp_dist = convert_raw_to_distance(raw_value);
-
-	// ensure distance is within min and max
-	temp_dist = constrain(temp_dist, min_distance, max_distance);
-
-	distance = _mode_filter->get_filtered_with_sample(temp_dist);
-	return distance;
-}
-
+	// convert analog value to distance in cm (using child implementation most likely)
+	temp_dist = convert_raw_to_distance(raw_value);
+
+	// ensure distance is within min and max
+	temp_dist = constrain(temp_dist, min_distance, max_distance);
+
+	distance = _mode_filter->get_filtered_with_sample(temp_dist);
+	return distance;
+}
+
diff --git a/libraries/AP_RangeFinder/RangeFinder.h b/libraries/AP_RangeFinder/RangeFinder.h
index 64b38e7e89..1870cd5a94 100644
--- a/libraries/AP_RangeFinder/RangeFinder.h
+++ b/libraries/AP_RangeFinder/RangeFinder.h
@@ -1,44 +1,43 @@
-#ifndef RangeFinder_h
-#define RangeFinder_h
-
-#include <stdlib.h>
-#include <inttypes.h>
+#ifndef RangeFinder_h
+#define RangeFinder_h
+
+#include <stdlib.h>
+#include <inttypes.h>
 #include "../AP_AnalogSource/AP_AnalogSource.h"
-#include "../ModeFilter/ModeFilter.h" // ArduPilot Mega RC Library
-
-/*
-#define AP_RANGEFINDER_ORIENTATION_FRONT		  0, 10,  0
-#define AP_RANGEFINDER_ORIENTATION_RIGHT		-10,  0,  0
-#define AP_RANGEFINDER_ORIENTATION_BACK			  0,-10,  0
-#define AP_RANGEFINDER_ORIENTATION_LEFT			 10,  0,  0
-#define AP_RANGEFINDER_ORIENTATION_UP			  0,  0,-10
-#define AP_RANGEFINDER_ORIENTATION_DOWN			  0,  0, 10
-#define AP_RANGEFINDER_ORIENTATION_FRONT_RIGHT 	 -5, -5,  0
-#define AP_RANGEFINDER_ORIENTATION_BACK_RIGHT 	 -5, -5,  0
-#define AP_RANGEFINDER_ORIENTATION_BACK_LEFT 	  5, -5,  0
-#define AP_RANGEFINDER_ORIENTATION_FRONT_LEFT 	  5,  5,  0
-*/
-
-class RangeFinder
-{
-  protected:
+#include "../ModeFilter/ModeFilter.h" // ArduPilot Mega RC Library
+
+/*
+#define AP_RANGEFINDER_ORIENTATION_FRONT		  0, 10,  0
+#define AP_RANGEFINDER_ORIENTATION_RIGHT		-10,  0,  0
+#define AP_RANGEFINDER_ORIENTATION_BACK			  0,-10,  0
+#define AP_RANGEFINDER_ORIENTATION_LEFT			 10,  0,  0
+#define AP_RANGEFINDER_ORIENTATION_UP			  0,  0,-10
+#define AP_RANGEFINDER_ORIENTATION_DOWN			  0,  0, 10
+#define AP_RANGEFINDER_ORIENTATION_FRONT_RIGHT 	 -5, -5,  0
+#define AP_RANGEFINDER_ORIENTATION_BACK_RIGHT 	 -5, -5,  0
+#define AP_RANGEFINDER_ORIENTATION_BACK_LEFT 	  5, -5,  0
+#define AP_RANGEFINDER_ORIENTATION_FRONT_LEFT 	  5,  5,  0
+*/
+
+class RangeFinder
+{
+  protected:
 	RangeFinder(AP_AnalogSource * source, ModeFilter *filter) :
 		_analog_source(source),
-		_mode_filter(filter)
-	{}
-  public:
-
-	int raw_value;     // raw value from the sensor
-	int distance;      // distance in cm
-	int max_distance;  // maximum measurable distance (in cm) - should be set in child's constructor
-	int min_distance;  // minimum measurable distance (in cm) - should be set in child's constructor
-	int orientation_x, orientation_y, orientation_z;
-
-    virtual void set_orientation(int x, int y, int z);
-	virtual int convert_raw_to_distance(int _raw_value) { return _raw_value; }  // function that each child class should override to convert voltage to distance
-	virtual int read();   // read value from sensor and return distance in cm
-
+		_mode_filter(filter) {}
+  public:
+
+	int raw_value;     // raw value from the sensor
+	int distance;      // distance in cm
+	int max_distance;  // maximum measurable distance (in cm) - should be set in child's constructor
+	int min_distance;  // minimum measurable distance (in cm) - should be set in child's constructor
+	int orientation_x, orientation_y, orientation_z;
+
+    virtual void set_orientation(int x, int y, int z);
+	virtual int convert_raw_to_distance(int _raw_value) { return _raw_value; }  // function that each child class should override to convert voltage to distance
+	virtual int read();   // read value from sensor and return distance in cm
+
 	AP_AnalogSource *_analog_source;
-  	ModeFilter  *_mode_filter;
-};
-#endif
+	ModeFilter  *_mode_filter;
+};
+#endif
diff --git a/libraries/AP_RangeFinder/keywords.txt b/libraries/AP_RangeFinder/keywords.txt
index be2e98d447..b8abff90b0 100644
--- a/libraries/AP_RangeFinder/keywords.txt
+++ b/libraries/AP_RangeFinder/keywords.txt
@@ -1,14 +1,14 @@
-RangeFinder	KEYWORD1
-AP_RangeFinder	KEYWORD1
-AP_RangeFinder_SharpGP2Y	KEYWORD1
-AP_RangeFinder_MaxsonarXL	KEYWORD1
-read	KEYWORD2
-set_orientation	KEYWORD2
-convert_raw_to_distance	KEYWORD2
-raw_value	KEYWORD2
-distance	KEYWORD2
-max_distance	KEYWORD2
-min_distance	KEYWORD2
-orientation_x	KEYWORD2
-orientation_y	KEYWORD2
-orientation_z	KEYWORD2
+RangeFinder	KEYWORD1
+AP_RangeFinder	KEYWORD1
+AP_RangeFinder_SharpGP2Y	KEYWORD1
+AP_RangeFinder_MaxsonarXL	KEYWORD1
+read	KEYWORD2
+set_orientation	KEYWORD2
+convert_raw_to_distance	KEYWORD2
+raw_value	KEYWORD2
+distance	KEYWORD2
+max_distance	KEYWORD2
+min_distance	KEYWORD2
+orientation_x	KEYWORD2
+orientation_y	KEYWORD2
+orientation_z	KEYWORD2
\ No newline at end of file