diff --git a/ArduCopter/mode_brake.cpp b/ArduCopter/mode_brake.cpp
index ab0862bd27..0e42277d6b 100644
--- a/ArduCopter/mode_brake.cpp
+++ b/ArduCopter/mode_brake.cpp
@@ -9,22 +9,22 @@
 // brake_init - initialise brake controller
 bool Copter::ModeBrake::init(bool ignore_checks)
 {
-        // set target to current position
-        wp_nav->init_brake_target(BRAKE_MODE_DECEL_RATE);
+    // set target to current position
+    wp_nav->init_brake_target(BRAKE_MODE_DECEL_RATE);
 
-        // initialize vertical speed and acceleration
-        pos_control->set_max_speed_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z);
-        pos_control->set_max_accel_z(BRAKE_MODE_DECEL_RATE);
+    // initialize vertical speed and acceleration
+    pos_control->set_max_speed_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z);
+    pos_control->set_max_accel_z(BRAKE_MODE_DECEL_RATE);
 
-        // initialise position and desired velocity
-        if (!pos_control->is_active_z()) {
-            pos_control->set_alt_target_to_current_alt();
-            pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
-        }
+    // initialise position and desired velocity
+    if (!pos_control->is_active_z()) {
+        pos_control->set_alt_target_to_current_alt();
+        pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
+    }
 
-        _timeout_ms = 0;
+    _timeout_ms = 0;
 
-        return true;
+    return true;
 }
 
 // brake_run - runs the brake controller
diff --git a/ArduCopter/mode_circle.cpp b/ArduCopter/mode_circle.cpp
index b35235419f..6a13329bbc 100644
--- a/ArduCopter/mode_circle.cpp
+++ b/ArduCopter/mode_circle.cpp
@@ -9,18 +9,18 @@
 // circle_init - initialise circle controller flight mode
 bool Copter::ModeCircle::init(bool ignore_checks)
 {
-        pilot_yaw_override = false;
+    pilot_yaw_override = false;
 
-        // initialize speeds and accelerations
-        pos_control->set_max_speed_xy(wp_nav->get_default_speed_xy());
-        pos_control->set_max_accel_xy(wp_nav->get_wp_acceleration());
-        pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
-        pos_control->set_max_accel_z(g.pilot_accel_z);
+    // initialize speeds and accelerations
+    pos_control->set_max_speed_xy(wp_nav->get_default_speed_xy());
+    pos_control->set_max_accel_xy(wp_nav->get_wp_acceleration());
+    pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
+    pos_control->set_max_accel_z(g.pilot_accel_z);
 
-        // initialise circle controller including setting the circle center based on vehicle speed
-        copter.circle_nav->init();
+    // initialise circle controller including setting the circle center based on vehicle speed
+    copter.circle_nav->init();
 
-        return true;
+    return true;
 }
 
 // circle_run - runs the circle flight mode
diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index 6eaa3817b9..88913deeff 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -40,9 +40,9 @@ struct Guided_Limit {
 // guided_init - initialise guided controller
 bool Copter::ModeGuided::init(bool ignore_checks)
 {
-        // start in position control mode
-        pos_control_start();
-        return true;
+    // start in position control mode
+    pos_control_start();
+    return true;
 }
 
 
diff --git a/ArduCopter/mode_loiter.cpp b/ArduCopter/mode_loiter.cpp
index e68f21bc2e..2b90f200e3 100644
--- a/ArduCopter/mode_loiter.cpp
+++ b/ArduCopter/mode_loiter.cpp
@@ -9,29 +9,29 @@
 // loiter_init - initialise loiter controller
 bool Copter::ModeLoiter::init(bool ignore_checks)
 {
-        if (!copter.failsafe.radio) {
-            float target_roll, target_pitch;
-            // apply SIMPLE mode transform to pilot inputs
-            update_simple_mode();
+    if (!copter.failsafe.radio) {
+        float target_roll, target_pitch;
+        // apply SIMPLE mode transform to pilot inputs
+        update_simple_mode();
 
-            // convert pilot input to lean angles
-            get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
+        // convert pilot input to lean angles
+        get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
 
-            // process pilot's roll and pitch input
-            loiter_nav->set_pilot_desired_acceleration(target_roll, target_pitch, G_Dt);
-        } else {
-            // clear out pilot desired acceleration in case radio failsafe event occurs and we do not switch to RTL for some reason
-            loiter_nav->clear_pilot_desired_acceleration();
-        }
-        loiter_nav->init_target();
+        // process pilot's roll and pitch input
+        loiter_nav->set_pilot_desired_acceleration(target_roll, target_pitch, G_Dt);
+    } else {
+        // clear out pilot desired acceleration in case radio failsafe event occurs and we do not switch to RTL for some reason
+        loiter_nav->clear_pilot_desired_acceleration();
+    }
+    loiter_nav->init_target();
 
-        // initialise position and desired velocity
-        if (!pos_control->is_active_z()) {
-            pos_control->set_alt_target_to_current_alt();
-            pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
-        }
+    // initialise position and desired velocity
+    if (!pos_control->is_active_z()) {
+        pos_control->set_alt_target_to_current_alt();
+        pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
+    }
 
-        return true;
+    return true;
 }
 
 #if PRECISION_LANDING == ENABLED
diff --git a/ArduCopter/mode_rtl.cpp b/ArduCopter/mode_rtl.cpp
index 51b4a788a8..9b90519b47 100644
--- a/ArduCopter/mode_rtl.cpp
+++ b/ArduCopter/mode_rtl.cpp
@@ -12,11 +12,11 @@
 // rtl_init - initialise rtl controller
 bool Copter::ModeRTL::init(bool ignore_checks)
 {
-        // initialise waypoint and spline controller
-        wp_nav->wp_and_spline_init();
-        build_path(!copter.failsafe.terrain);
-        climb_start();
-        return true;
+    // initialise waypoint and spline controller
+    wp_nav->wp_and_spline_init();
+    build_path(!copter.failsafe.terrain);
+    climb_start();
+    return true;
 }
 
 // re-start RTL with terrain following disabled