diff --git a/mk/PX4/ROMFS/init.d/rc.APM b/mk/PX4/ROMFS/init.d/rc.APM
index 28546e864d..ea5fc8c317 100755
--- a/mk/PX4/ROMFS/init.d/rc.APM
+++ b/mk/PX4/ROMFS/init.d/rc.APM
@@ -14,75 +14,75 @@ set deviceA /dev/ttyACM0
 # a bug in an earlier firmware release
 if [ -f /fs/microsd/APM ]
 then
-   echo "APM file found - renaming"
-   mv /fs/microsd/APM /fs/microsd/APM.old
+    echo "APM file found - renaming"
+    mv /fs/microsd/APM /fs/microsd/APM.old
 fi
 
 if [ -f /fs/microsd/APM/nostart ]
 then
-   echo "APM/nostart found - skipping APM startup"
-   sh /etc/init.d/rc.error
+    echo "APM/nostart found - skipping APM startup"
+    sh /etc/init.d/rc.error
 fi
 
 # mount binfs so we can find the built-in apps
 if [ -f /bin/reboot ]
 then
-	echo "binfs already mounted"
+    echo "binfs already mounted"
 else
-	echo "Mounting binfs"
-        if mount -t binfs /dev/null /bin
-        then
-                echo "binfs mounted OK"
-        else
-                sh /etc/init.d/rc.error
-        fi
+    echo "Mounting binfs"
+    if mount -t binfs /dev/null /bin
+    then
+            echo "binfs mounted OK"
+    else
+            sh /etc/init.d/rc.error
+    fi
 fi
 
 set sketch NONE
 if rm /fs/microsd/APM/boot.log
 then
-   echo "removed old boot.log"
+    echo "removed old boot.log"
 fi
 set logfile /fs/microsd/APM/BOOT.LOG
 
 if [ ! -f /bin/ArduPilot ]
 then
-   echo "/bin/ardupilot not found"
-   sh /etc/init.d/rc.error
+    echo "/bin/ardupilot not found"
+    sh /etc/init.d/rc.error
 fi
 
 if mkdir /fs/microsd/APM > /dev/null
 then
-     echo "Created APM directory"
+    echo "Created APM directory"
 fi
 
 if [ -f /bin/px4io ]
 then
-  if [ -f /bin/lsm303d ]
-  then
-     echo "Detected FMUv2 board"
-     set BOARD FMUv2
-  else
-     echo "Detected FMUv1 board"
-     set BOARD FMUv1
-  fi
+    if [ -f /bin/lsm303d ]
+    then
+        echo "Detected FMUv2 board"
+        set BOARD FMUv2
+    else
+        echo "Detected FMUv1 board"
+        set BOARD FMUv1
+    fi
 else
-  echo "Detected FMUv4 board"
-  set BOARD FMUv4   
+    echo "Detected FMUv4 board"
+    set BOARD FMUv4
 fi
 
 if [ $BOARD == FMUv1 ]
 then
-   set deviceC /dev/ttyS2
-   if [ -f /fs/microsd/APM/AUXPWM.en ]
-   then
-      set deviceD /dev/null
-   else
-      set deviceD /dev/ttyS1
-   fi
+    set deviceC /dev/ttyS2
+    if [ -f /fs/microsd/APM/AUXPWM.en ]
+    then
+        set deviceD /dev/null
+    else
+        set deviceD /dev/ttyS1
+    fi
 else
-   set deviceC /dev/ttyS1
-   set deviceD /dev/ttyS2
+    set deviceC /dev/ttyS1
+    set deviceD /dev/ttyS2
 fi
 
 if uorb start
@@ -116,34 +116,34 @@ fi
 
 if [ -f /bin/px4io ]
 then
-  echo "Trying PX4IO board"
+    echo "Trying PX4IO board"
 
-  # try the px4io start twice. Some FMUv2 board don't
-  # come up the first time
-  set HAVE_PX4IO false
-  if px4io start norc
-  then
-    set HAVE_PX4IO true
-  else
-    # it may be in bootloader mode
-    echo Loading /etc/px4io/px4io.bin
-    tone_alarm MBABGP
-    if px4io update /etc/px4io/px4io.bin
-    then
-	echo "upgraded PX4IO firmware OK"
-        tone_alarm MSPAA
-    else
-	echo "Failed to upgrade PX4IO firmware"
-        tone_alarm MNGGG
-    fi
-    sleep 1
+    # try the px4io start twice. Some FMUv2 board don't
+    # come up the first time
+    set HAVE_PX4IO false
     if px4io start norc
     then
         set HAVE_PX4IO true
-        # play happy tune again
-	tone_alarm 1
+    else
+        # it may be in bootloader mode
+        echo Loading /etc/px4io/px4io.bin
+        tone_alarm MBABGP
+        if px4io update /etc/px4io/px4io.bin
+        then
+            echo "upgraded PX4IO firmware OK"
+            tone_alarm MSPAA
+        else
+            echo "Failed to upgrade PX4IO firmware"
+            tone_alarm MNGGG
+        fi
+        sleep 1
+        if px4io start norc
+        then
+            set HAVE_PX4IO true
+            # play happy tune again
+            tone_alarm 1
+        fi
     fi
-  fi
 else
     set HAVE_PX4IO false
     echo "No PX4IO support"
@@ -157,7 +157,7 @@ then
         echo "PX4IO CRC OK"
     else
         echo "PX4IO CRC failure"
-        echo "PX4IO CRC failure" >> $logfile    
+        echo "PX4IO CRC failure" >> $logfile
         tone_alarm MBABGP
 
         if px4io safety_on
@@ -171,22 +171,22 @@ then
 
         if px4io forceupdate 14662 /etc/px4io/px4io.bin
         then
-               sleep 1
-               if px4io start norc
-               then
-                  echo "PX4IO restart OK"
-                  echo "PX4IO restart OK" >> $logfile    
-                  tone_alarm MSPAA
-               else
-                  echo "PX4IO restart failed"
-                  echo "PX4IO restart failed" >> $logfile    
-                  tone_alarm MNGGG
-                  sh /etc/init.d/rc.error
-               fi
+            sleep 1
+            if px4io start norc
+            then
+                echo "PX4IO restart OK"
+                echo "PX4IO restart OK" >> $logfile
+                tone_alarm MSPAA
+            else
+                echo "PX4IO restart failed"
+                echo "PX4IO restart failed" >> $logfile
+                tone_alarm MNGGG
+                sh /etc/init.d/rc.error
+            fi
         else
-               echo "PX4IO update failed"
-               echo "PX4IO update failed" >> $logfile    
-               tone_alarm MNGGG
+            echo "PX4IO update failed"
+            echo "PX4IO update failed" >> $logfile
+            tone_alarm MNGGG
         fi
     fi
 else
@@ -195,19 +195,19 @@ else
 
     if [ $BOARD == FMUv2 ]
     then
-       sh /etc/init.d/rc.error
+        sh /etc/init.d/rc.error
     fi
 fi
 
 if [ $BOARD == FMUv1 -a $deviceD == /dev/ttyS1 ]
 then
-        echo "Setting FMU mode_serial"
-        fmu mode_serial
+    echo "Setting FMU mode_serial"
+    fmu mode_serial
 else
-        if fmu mode_pwm4
-        then
-                echo "Set FMU mode_pwm4"
-        fi
+    if fmu mode_pwm4
+    then
+        echo "Set FMU mode_pwm4"
+    fi
 fi
 
 
@@ -250,19 +250,19 @@ echo "Starting APM sensors"
 
 if ms5611 start
 then
-   echo "ms5611 started OK"
+    echo "ms5611 started OK"
 else
-   echo "no ms5611 found"
-   echo "No ms5611 found" >> $logfile
-   sh /etc/init.d/rc.error
+    echo "no ms5611 found"
+    echo "No ms5611 found" >> $logfile
+    sh /etc/init.d/rc.error
 fi
 
 if adc start
 then
-   echo "adc started OK"
+    echo "adc started OK"
 else
-   echo "No adc" >> $logfile
-   sh /etc/init.d/rc.error
+    echo "No adc" >> $logfile
+    sh /etc/init.d/rc.error
 fi
 
 if [ $BOARD == FMUv1 ]
@@ -282,16 +282,16 @@ then
     fi
     if mpu6000 start
     then
-       echo "mpu6000  started OK"
+        echo "mpu6000  started OK"
     else
-       sh /etc/init.d/rc.error
+        sh /etc/init.d/rc.error
     fi
     if l3gd20 start
     then
-       echo "l3gd20 started OK"
+        echo "l3gd20 started OK"
     else
-       echo "No l3gd20"
-       echo "No l3gd20" >> $logfile
+        echo "No l3gd20"
+        echo "No l3gd20" >> $logfile
     fi
 fi
 
@@ -331,61 +331,61 @@ then
         # external L3GD20 is rotated YAW_180 from standard
         if l3gd20 -X -R 4 start
         then
-               echo "l3gd20 external started OK"
+            echo "l3gd20 external started OK"
         else
-               echo "No l3gd20"
-               sh /etc/init.d/rc.error
+            echo "No l3gd20"
+            sh /etc/init.d/rc.error
         fi
         # external LSM303D is rotated YAW_270 from standard
         if lsm303d -a 16 -X -R 6 start
         then
-               echo "lsm303d external started OK"
+            echo "lsm303d external started OK"
         else
-               echo "No lsm303d"
-               sh /etc/init.d/rc.error
+            echo "No lsm303d"
+            sh /etc/init.d/rc.error
         fi
         # internal MPU6000 is rotated ROLL_180_YAW_270 from standard
         if mpu6000 -R 14 start
         then
-               echo "Found MPU6000 internal"
+            echo "Found MPU6000 internal"
         else
-           if mpu9250 -R 14 start
-           then
-               echo "Found MPU9250 internal"
-           else
-               echo "No MPU6000 or MPU9250"
-               echo "No MPU6000 or MPU9250" >> $logfile
-               sh /etc/init.d/rc.error
-           fi
+        if mpu9250 -R 14 start
+        then
+            echo "Found MPU9250 internal"
+        else
+            echo "No MPU6000 or MPU9250"
+            echo "No MPU6000 or MPU9250" >> $logfile
+            sh /etc/init.d/rc.error
+        fi
         fi
         if hmc5883 -C -T -S -R 8 start
         then
-               echo "Found SPI hmc5883"
+            echo "Found SPI hmc5883"
         fi
     else
         if mpu6000 start
         then
-               echo "Found MPU6000"
+            echo "Found MPU6000"
         else
-               if mpu9250 start
-               then
-                   echo "Found MPU9250"
-               else
-                   echo "No MPU6000 or MPU9250"
-                   echo "No MPU9250" >> $logfile
-               fi
+            if mpu9250 start
+            then
+                echo "Found MPU9250"
+            else
+                echo "No MPU6000 or MPU9250"
+                echo "No MPU9250" >> $logfile
+            fi
         fi
         if l3gd20 start
         then
-               echo "l3gd20 started OK"
+            echo "l3gd20 started OK"
         else
-               sh /etc/init.d/rc.error
+            sh /etc/init.d/rc.error
         fi
         if lsm303d -a 16 start
         then
-               echo "lsm303d started OK"
+            echo "lsm303d started OK"
         else
-               sh /etc/init.d/rc.error
+            sh /etc/init.d/rc.error
         fi
     fi
 fi
@@ -409,12 +409,12 @@ then
 
     if mpu6000 -R 2 -T 20608 start
     then
-       echo "Found ICM-20608 internal"
+        echo "Found ICM-20608 internal"
     fi
 
     if mpu9250 -R 2 start
     then
-       echo "Found mpu9250 internal"
+        echo "Found mpu9250 internal"
     fi
 fi
 
@@ -458,10 +458,10 @@ fi
 # optional PX4Flow sensor
 if [ -f /bin/px4flow ]
 then
-  if px4flow start
-  then
-    echo "Found px4flow sensor"
-  fi
+    if px4flow start
+    then
+            echo "Found px4flow sensor"
+    fi
 fi
 
 # optional PWM input driver
diff --git a/mk/PX4/ROMFS/init.d/rcS b/mk/PX4/ROMFS/init.d/rcS
index fea2222cdb..201707f00a 100755
--- a/mk/PX4/ROMFS/init.d/rcS
+++ b/mk/PX4/ROMFS/init.d/rcS
@@ -27,11 +27,11 @@ set USB autoconnect
 
 if rgbled start
 then
-        set HAVE_RGBLED 1
-        # show startup white
-        rgbled rgb 16 16 16
+    set HAVE_RGBLED 1
+    # show startup white
+    rgbled rgb 16 16 16
 else
-        set HAVE_RGBLED 0
+    set HAVE_RGBLED 0
 fi
 
 #
@@ -40,38 +40,38 @@ fi
 echo "[init] looking for microSD..."
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
-	echo "[init] card mounted at /fs/microsd"
-        set HAVE_MICROSD 1
-	# Start playing the startup tune
-	tone_alarm 1
+    echo "[init] card mounted at /fs/microsd"
+    set HAVE_MICROSD 1
+    # Start playing the startup tune
+    tone_alarm 1
 else
-        set HAVE_MICROSD 0
-	echo "Trying format of microSD"
-        tone_alarm MBAGP
-        if mkfatfs /dev/mmcsd0
-        then
-        	echo "microSD card formatted"
-                if mount -t vfat /dev/mmcsd0 /fs/microsd
-                then
-                        echo "format succeeded"
-                        set HAVE_MICROSD 1
-                        tone_alarm 1
-                else
-                        echo "mount failed"
-                        tone_alarm MNBG
-                        if [ $HAVE_RGBLED == 1 ]
-                        then
-                           rgbled rgb 16 0 0
-                        fi
-                fi
-        else
-        	echo "format failed"
-                tone_alarm MNBGG
+    set HAVE_MICROSD 0
+    echo "Trying format of microSD"
+    tone_alarm MBAGP
+    if mkfatfs /dev/mmcsd0
+    then
+        echo "microSD card formatted"
+            if mount -t vfat /dev/mmcsd0 /fs/microsd
+            then
+                echo "format succeeded"
+                set HAVE_MICROSD 1
+                tone_alarm 1
+            else
+                echo "mount failed"
+                tone_alarm MNBG
                 if [ $HAVE_RGBLED == 1 ]
                 then
-                        rgbled rgb 16 0 0
+                    rgbled rgb 16 0 0
                 fi
+            fi
+    else
+        echo "format failed"
+        tone_alarm MNBGG
+        if [ $HAVE_RGBLED == 1 ]
+        then
+                rgbled rgb 16 0 0
         fi
+    fi
 fi
 
 #
@@ -82,14 +82,14 @@ fi
 #
 if [ -f /fs/microsd/etc/rc ]
 then
-	echo "[init] reading /fs/microsd/etc/rc"
-	sh /fs/microsd/etc/rc
+    echo "[init] reading /fs/microsd/etc/rc"
+    sh /fs/microsd/etc/rc
 fi
 # Also consider rc.txt files
 if [ -f /fs/microsd/etc/rc.txt ]
 then
-	echo "[init] reading /fs/microsd/etc/rc.txt"
-	sh /fs/microsd/etc/rc.txt
+    echo "[init] reading /fs/microsd/etc/rc.txt"
+    sh /fs/microsd/etc/rc.txt
 fi
 
 #
@@ -97,34 +97,34 @@ fi
 #
 if [ $USB != autoconnect ]
 then
-	echo "[init] not connecting USB"
+    echo "[init] not connecting USB"
 else
-	if sercon
-	then
-		echo "[init] USB interface connected"
-	else
-		echo "[init] No USB connected"
-	fi
+    if sercon
+    then
+        echo "[init] USB interface connected"
+    else
+        echo "[init] No USB connected"
+    fi
 fi
 
 if [ $HAVE_MICROSD == 0 ]
 then
-        if usb_connected
-        then
-                echo "Opening USB nsh"
-        else
-                echo "booting with no microSD"
-                set HAVE_MICROSD 1
-        fi
+    if usb_connected
+    then
+        echo "Opening USB nsh"
+    else
+        echo "booting with no microSD"
+        set HAVE_MICROSD 1
+    fi
 fi
 
 # if this is an APM build then there will be a rc.APM script
 # from an EXTERNAL_SCRIPTS build option
 if [ -f /etc/init.d/rc.APM -a $HAVE_MICROSD == 1 -a ! -f /fs/microsd/APM/nostart ]
 then
-	echo Running rc.APM
-	# if APM startup is successful then nsh will exit
-	sh /etc/init.d/rc.APM
+    echo Running rc.APM
+    # if APM startup is successful then nsh will exit
+    sh /etc/init.d/rc.APM
 else
-        nshterm /dev/ttyACM0 &
+    nshterm /dev/ttyACM0 &
 fi