diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow.h b/libraries/AP_OpticalFlow/AP_OpticalFlow.h
index 970b572992..18caabe502 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow.h
@@ -2,20 +2,20 @@
 #define AP_OPTICALFLOW_H
 
 /*
-	AP_OpticalFlow.cpp - OpticalFlow Base Class for Ardupilot Mega
-	Code by 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.
-
-	Methods:
-		init()           : initializate sensor and library.
-		read             : reads latest value from OpticalFlow and stores values in x,y, surface_quality parameter
-		read_register()  : reads a value from the sensor (will be sensor specific)
-		write_register() : writes a value to one of the sensor's register (will be sensor specific)
-*/
+ *       AP_OpticalFlow.cpp - OpticalFlow Base Class for Ardupilot Mega
+ *       Code by 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.
+ *
+ *       Methods:
+ *               init()           : initializate sensor and library.
+ *               read             : reads latest value from OpticalFlow and stores values in x,y, surface_quality parameter
+ *               read_register()  : reads a value from the sensor (will be sensor specific)
+ *               write_register() : writes a value to one of the sensor's register (will be sensor specific)
+ */
 
 #include <FastSerial.h>
 #include <AP_Math.h>
@@ -23,40 +23,48 @@
 
 class AP_OpticalFlow
 {
-	public:
-	int raw_dx, raw_dy;   // raw sensor change in x and y position (i.e. unrotated)
-	int surface_quality;  // image quality (below 15 you really can't trust the x,y values returned)
-	int x,y;              // total x,y position
-	int dx,dy;            // rotated change in x and y position
-    float vlon, vlat;       // position as offsets from original position
-	unsigned long last_update;    // millis() time of last update
-	float field_of_view;  // field of view in Radians
-	float scaler;        // number returned from sensor when moved one pixel
-	int num_pixels;      // number of pixels of resolution in the sensor
-	// temp variables - delete me!
-    float exp_change_x, exp_change_y;
-    float change_x, change_y;
-	float x_cm, y_cm;
+public:
+    int                     raw_dx, raw_dy; // raw sensor change in x and y position (i.e. unrotated)
+    int                     surface_quality; // image quality (below 15 you really can't trust the x,y values returned)
+    int                     x,y; // total x,y position
+    int                     dx,dy; // rotated change in x and y position
+    float                   vlon, vlat; // position as offsets from original position
+    unsigned long           last_update; // millis() time of last update
+    float                   field_of_view; // field of view in Radians
+    float                   scaler; // number returned from sensor when moved one pixel
+    int                     num_pixels; // number of pixels of resolution in the sensor
+    // temp variables - delete me!
+    float                   exp_change_x, exp_change_y;
+    float                   change_x, change_y;
+    float                   x_cm, y_cm;
 
-	AP_OpticalFlow() { _sensor = this; };
-	~AP_OpticalFlow() { _sensor = NULL; };
-	virtual bool init(bool initCommAPI = true); // parameter controls whether I2C/SPI interface is initialised (set to false if other devices are on the I2C/SPI bus and have already initialised the interface)
-	virtual byte read_register(byte address);
-	virtual void write_register(byte address, byte value);
-	virtual void set_orientation(enum Rotation rotation); // Rotation vector to transform sensor readings to the body frame.
-	virtual void set_field_of_view(const float fov) { field_of_view = fov; update_conversion_factors(); };  // sets field of view of sensor
-    static void read(uint32_t ) { if( _sensor != NULL ) _sensor->update(); }; // call to update all attached sensors
-    virtual bool update(); // read latest values from sensor and fill in x,y and totals.  returns true on success
-	virtual void update_position(float roll, float pitch, float cos_yaw_x, float sin_yaw_y, float altitude);  // updates internal lon and lat with estimation based on optical flow
+    AP_OpticalFlow() {
+        _sensor = this;
+    };
+    ~AP_OpticalFlow() {
+        _sensor = NULL;
+    };
+    virtual bool                    init(bool initCommAPI = true); // parameter controls whether I2C/SPI interface is initialised (set to false if other devices are on the I2C/SPI bus and have already initialised the interface)
+    virtual byte                    read_register(byte address);
+    virtual void                    write_register(byte address, byte value);
+    virtual void                    set_orientation(enum Rotation rotation); // Rotation vector to transform sensor readings to the body frame.
+    virtual void                    set_field_of_view(const float fov) {
+        field_of_view = fov; update_conversion_factors();
+    };                                                                                                          // sets field of view of sensor
+    static void                     read(uint32_t ) {
+        if( _sensor != NULL ) _sensor->update();
+    };                                                                        // call to update all attached sensors
+    virtual bool                    update(); // read latest values from sensor and fill in x,y and totals.  returns true on success
+    virtual void                    update_position(float roll, float pitch, float cos_yaw_x, float sin_yaw_y, float altitude); // updates internal lon and lat with estimation based on optical flow
 
 protected:
-    static AP_OpticalFlow *_sensor;  // pointer to the last instantiated optical flow sensor.  Will be turned into a table if we ever add support for more than one sensor
-	enum Rotation   _orientation;
-	float conv_factor; // multiply this number by altitude and pixel change to get horizontal move (in same units as altitude)
-    float radians_to_pixels;
-	float _last_roll, _last_pitch, _last_altitude;
-	virtual void apply_orientation_matrix();  // rotate raw values to arrive at final x,y,dx and dy values
-	virtual void update_conversion_factors();
+    static AP_OpticalFlow *         _sensor; // pointer to the last instantiated optical flow sensor.  Will be turned into a table if we ever add support for more than one sensor
+    enum Rotation                   _orientation;
+    float                           conv_factor; // multiply this number by altitude and pixel change to get horizontal move (in same units as altitude)
+    float                           radians_to_pixels;
+    float                           _last_roll, _last_pitch, _last_altitude;
+    virtual void                    apply_orientation_matrix(); // rotate raw values to arrive at final x,y,dx and dy values
+    virtual void                    update_conversion_factors();
 };
 
 #include "AP_OpticalFlow_ADNS3080.h"