diff --git a/APMrover2/defines.h b/APMrover2/defines.h
index bb7edfebdc..93a499e205 100644
--- a/APMrover2/defines.h
+++ b/APMrover2/defines.h
@@ -3,41 +3,41 @@
 // Internal defines, don't edit and expect things to work
 // -------------------------------------------------------
 
-#define TRUE 1
+#define TRUE  1
 #define FALSE 0
 
 // Just so that it's completely clear...
-#define ENABLED                 1
-#define DISABLED                0
+#define ENABLED  1
+#define DISABLED 0
 
 // this avoids a very common config error
 #define ENABLE ENABLED
 #define DISABLE DISABLED
 
 #define DEBUG 0
-#define SERVO_MAX 4500	// This value represents 45 degrees and is just an arbitrary representation of servo max travel.
+#define SERVO_MAX 4500  // This value represents 45 degrees and is just an arbitrary representation of servo max travel.
 
 // CH 7 control
 enum ch7_option {
-    CH7_DO_NOTHING=0,
-    CH7_SAVE_WP=1
+    CH7_DO_NOTHING = 0,
+    CH7_SAVE_WP    = 1
 };
 
 // HIL enumerations
-#define HIL_MODE_DISABLED			0
-#define HIL_MODE_SENSORS			1
+#define HIL_MODE_DISABLED 0
+#define HIL_MODE_SENSORS  1
 
 // Auto Pilot modes
 // ----------------
 enum mode {
-    MANUAL=0,
-	LEARNING=2,
-    STEERING=3,
-    HOLD=4,
-    AUTO=10,
-    RTL=11,
-    GUIDED=15,
-    INITIALISING=16
+    MANUAL       = 0,
+    LEARNING     = 2,
+    STEERING     = 3,
+    HOLD         = 4,
+    AUTO         = 10,
+    RTL          = 11,
+    GUIDED       = 15,
+    INITIALISING = 16
 };
 
 enum GuidedMode {
@@ -52,35 +52,35 @@ enum GuidedMode {
 #define FAILSAFE_EVENT_RC       (1<<2)
 
 //  Logging parameters
-#define LOG_CTUN_MSG	        0x01
-#define LOG_NTUN_MSG    		0x02
-#define LOG_PERFORMANCE_MSG		0x03
-#define LOG_STARTUP_MSG 		0x06
-#define LOG_SONAR_MSG 		    0x07
+#define LOG_CTUN_MSG            0x01
+#define LOG_NTUN_MSG            0x02
+#define LOG_PERFORMANCE_MSG     0x03
+#define LOG_STARTUP_MSG         0x06
+#define LOG_SONAR_MSG           0x07
 #define LOG_ARM_DISARM_MSG      0x08
 #define LOG_STEERING_MSG        0x0D
 #define LOG_GUIDEDTARGET_MSG    0x0E
 #define LOG_ERROR_MSG           0x13
 
-#define TYPE_AIRSTART_MSG		0x00
-#define TYPE_GROUNDSTART_MSG	0x01
-#define MAX_NUM_LOGS			100
+#define TYPE_AIRSTART_MSG       0x00
+#define TYPE_GROUNDSTART_MSG    0x01
+#define MAX_NUM_LOGS            100
 
-#define MASK_LOG_ATTITUDE_FAST 	(1<<0)
-#define MASK_LOG_ATTITUDE_MED 	(1<<1)
-#define MASK_LOG_GPS 			(1<<2)
-#define MASK_LOG_PM 			(1<<3)
-#define MASK_LOG_CTUN 			(1<<4)
-#define MASK_LOG_NTUN			(1<<5)
-#define MASK_LOG_MODE			(1<<6)
-#define MASK_LOG_IMU			(1<<7)
-#define MASK_LOG_CMD			(1<<8)
-#define MASK_LOG_CURRENT		(1<<9)
-#define MASK_LOG_SONAR   		(1<<10)
-#define MASK_LOG_COMPASS   		(1<<11)
-#define MASK_LOG_CAMERA   		(1<<12)
-#define MASK_LOG_STEERING  		(1<<13)
-#define MASK_LOG_RC     		(1<<14)
+#define MASK_LOG_ATTITUDE_FAST  (1<<0)
+#define MASK_LOG_ATTITUDE_MED   (1<<1)
+#define MASK_LOG_GPS            (1<<2)
+#define MASK_LOG_PM             (1<<3)
+#define MASK_LOG_CTUN           (1<<4)
+#define MASK_LOG_NTUN           (1<<5)
+#define MASK_LOG_MODE           (1<<6)
+#define MASK_LOG_IMU            (1<<7)
+#define MASK_LOG_CMD            (1<<8)
+#define MASK_LOG_CURRENT        (1<<9)
+#define MASK_LOG_SONAR          (1<<10)
+#define MASK_LOG_COMPASS        (1<<11)
+#define MASK_LOG_CAMERA         (1<<12)
+#define MASK_LOG_STEERING       (1<<13)
+#define MASK_LOG_RC             (1<<14)
 #define MASK_LOG_ARM_DISARM     (1<<15)
 #define MASK_LOG_IMU_RAW        (1UL<<19)
 
@@ -93,9 +93,9 @@ enum GuidedMode {
 #define MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE (1<<11)
 
 // Error message sub systems and error codes
-#define ERROR_SUBSYSTEM_CRASH_CHECK         12
+#define ERROR_SUBSYSTEM_CRASH_CHECK  12
 // subsystem specific error codes -- crash checker
-#define ERROR_CODE_CRASH_CHECK_CRASH        1
+#define ERROR_CODE_CRASH_CHECK_CRASH 1
 
 enum fs_crash_action {
   FS_CRASH_DISABLE = 0,