diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index 728542228c..ea7f7ad11c 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -9,107 +9,107 @@
 // called at 10hz
 static void arm_motors()
 {
-	static int16_t arming_counter;
+    static int16_t arming_counter;
 
-	// don't allow arming/disarming in anything but manual
-	if ((g.rc_3.control_in > 0) || (arming_counter > LEVEL_DELAY)){
-		arming_counter = 0;
-		return;
-	}
+    // don't allow arming/disarming in anything but manual
+    if ((g.rc_3.control_in > 0) || (arming_counter > LEVEL_DELAY)) {
+        arming_counter = 0;
+        return;
+    }
 
-	if ((control_mode > ACRO) && ((control_mode != TOY_A) && (control_mode != TOY_M))){
-		arming_counter = 0;
-		return;
-	}
+    if ((control_mode > ACRO) && ((control_mode != TOY_A) && (control_mode != TOY_M))) {
+        arming_counter = 0;
+        return;
+    }
 
-	#if TOY_EDF == ENABLED
-		int16_t tmp = g.rc_1.control_in;
-	#else
-		int16_t tmp = g.rc_4.control_in;
-	#endif
+#if TOY_EDF == ENABLED
+    int16_t tmp = g.rc_1.control_in;
+#else
+    int16_t tmp = g.rc_4.control_in;
+#endif
 
-	// full right
-	if (tmp > 4000) {
-		if (arming_counter == LEVEL_DELAY){
-			//Serial.printf("\nAL\n");
-			// begin auto leveling
-			auto_level_counter = 250;
-			arming_counter = 0;
+    // full right
+    if (tmp > 4000) {
+        if (arming_counter == LEVEL_DELAY) {
+            //Serial.printf("\nAL\n");
+            // begin auto leveling
+            auto_level_counter = 250;
+            arming_counter = 0;
 
-		}else if (arming_counter == ARM_DELAY){
-			if(motors.armed() == false){
-				// arm the motors and configure for flight
+        }else if (arming_counter == ARM_DELAY) {
+            if(motors.armed() == false) {
+                // arm the motors and configure for flight
 
 ////////////////////////////////////////////////////////////////////////////////
 // Experimental AP_Limits library - set constraints, limits, fences, minima, maxima on various parameters
 ////////////////////////////////////////////////////////////////////////////////
 #ifdef AP_LIMITS
- 					if (limits.enabled() && limits.required()) {
- 						gcs_send_text_P(SEVERITY_LOW, PSTR("Limits - Running pre-arm checks"));
+                if (limits.enabled() && limits.required()) {
+                    gcs_send_text_P(SEVERITY_LOW, PSTR("Limits - Running pre-arm checks"));
 
- 						 // check only pre-arm required modules
- 						if (limits.check_required()) {
- 							gcs_send_text_P(SEVERITY_LOW, PSTR("ARMING PREVENTED - Limit Breached"));
- 							limits.set_state(LIMITS_TRIGGERED);
- 							gcs_send_message(MSG_LIMITS_STATUS);
+                    // check only pre-arm required modules
+                    if (limits.check_required()) {
+                        gcs_send_text_P(SEVERITY_LOW, PSTR("ARMING PREVENTED - Limit Breached"));
+                        limits.set_state(LIMITS_TRIGGERED);
+                        gcs_send_message(MSG_LIMITS_STATUS);
 
- 							arming_counter++; // restart timer by cycling
- 						}else{
- 	 						init_arm_motors();
- 	 					}
-					}else{
-						init_arm_motors();
-					}
+                        arming_counter++;                                 // restart timer by cycling
+                    }else{
+                        init_arm_motors();
+                    }
+                }else{
+                    init_arm_motors();
+                }
 
 #else  // without AP_LIMITS, just arm motors
-					init_arm_motors();
+                init_arm_motors();
 #endif //AP_LIMITS_ENABLED
 
-			}
-			// keep going up
-			arming_counter++;
-		} else{
-			arming_counter++;
-		}
+            }
+            // keep going up
+            arming_counter++;
+        } else{
+            arming_counter++;
+        }
 
-	// full left
-	}else if (tmp < -4000) {
-		if (arming_counter == LEVEL_DELAY){
-			//Serial.printf("\nLEV\n");
+        // full left
+    }else if (tmp < -4000) {
+        if (arming_counter == LEVEL_DELAY) {
+            //Serial.printf("\nLEV\n");
 
-			// begin manual leveling
-			imu.init_accel(mavlink_delay, flash_leds);
-			arming_counter = 0;
+            // begin manual leveling
+            imu.init_accel(mavlink_delay, flash_leds);
+            arming_counter = 0;
 
-		}else if (arming_counter == DISARM_DELAY){
-			if(motors.armed()){
-				// arm the motors and configure for flight
-				init_disarm_motors();
-			}
-			// keep going up
-			arming_counter++;
-		}else{
-			arming_counter++;
-		}
+        }else if (arming_counter == DISARM_DELAY) {
+            if(motors.armed()) {
+                // arm the motors and configure for flight
+                init_disarm_motors();
+            }
+            // keep going up
+            arming_counter++;
+        }else{
+            arming_counter++;
+        }
 
-	// Yaw is centered
-	}else{
-		arming_counter = 0;
-	}
+        // Yaw is centered
+    }else{
+        arming_counter = 0;
+    }
 }
 
 
 static void init_arm_motors()
 {
-	// Flag used to track if we have armed the motors the first time.
-	// This is used to decide if we should run the ground_start routine
-	// which calibrates the IMU
-	static bool did_ground_start = false;
+    // Flag used to track if we have armed the motors the first time.
+    // This is used to decide if we should run the ground_start routine
+    // which calibrates the IMU
+    static bool did_ground_start = false;
 
-	//Serial.printf("\nARM\n");
-    #if HIL_MODE != HIL_MODE_DISABLED || defined(DESKTOP_BUILD)
-	gcs_send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS"));
-	#endif
+    //Serial.printf("\nARM\n");
+#if HIL_MODE != HIL_MODE_DISABLED || defined(DESKTOP_BUILD)
+    gcs_send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS"));
+#endif
 
     // we don't want writes to the serial port to cause us to pause
     // mid-flight, so set the serial ports non-blocking once we arm
@@ -118,46 +118,46 @@ static void init_arm_motors()
     if (gcs3.initialised) {
         Serial3.set_blocking_writes(false);
     }
-	motors.armed(true);
+    motors.armed(true);
 
-	#if COPTER_LEDS == ENABLED
-	if ( bitRead(g.copter_leds_mode, 3) ){
-		piezo_beep();
-		delay(50);
-		piezo_beep();
-	}
-	#endif
+#if COPTER_LEDS == ENABLED
+    if ( bitRead(g.copter_leds_mode, 3) ) {
+        piezo_beep();
+        delay(50);
+        piezo_beep();
+    }
+#endif
 
-	// Remember Orientation
-	// --------------------
-	init_simple_bearing();
+    // Remember Orientation
+    // --------------------
+    init_simple_bearing();
 
-	init_z_damper();
+    init_z_damper();
 
-	// Reset home position
-	// -------------------
-	if(home_is_set)
-		init_home();
+    // Reset home position
+    // -------------------
+    if(home_is_set)
+        init_home();
 
-	// all I terms are invalid
-	// -----------------------
+    // all I terms are invalid
+    // -----------------------
     reset_I_all();
 
-	if(did_ground_start == false){
-		did_ground_start = true;
-		startup_ground();
-	}
+    if(did_ground_start == false) {
+        did_ground_start = true;
+        startup_ground();
+    }
 
-	#if HIL_MODE != HIL_MODE_ATTITUDE
-		// read Baro pressure at ground -
-		// this resets Baro for more accuracy
-		//-----------------------------------
-		init_barometer();
-	#endif
+#if HIL_MODE != HIL_MODE_ATTITUDE
+    // read Baro pressure at ground -
+    // this resets Baro for more accuracy
+    //-----------------------------------
+    init_barometer();
+#endif
 
-	// temp hack
-	motor_light = true;
-	digitalWrite(A_LED_PIN, LED_ON);
+    // temp hack
+    motor_light = true;
+    digitalWrite(A_LED_PIN, LED_ON);
 
     // go back to normal AHRS gains
     ahrs.set_fast_gains(false);
@@ -166,38 +166,38 @@ static void init_arm_motors()
 
 static void init_disarm_motors()
 {
-	//Serial.printf("\nDISARM\n");
-    #if HIL_MODE != HIL_MODE_DISABLED || defined(DESKTOP_BUILD)
-	gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
-	#endif
+    //Serial.printf("\nDISARM\n");
+#if HIL_MODE != HIL_MODE_DISABLED || defined(DESKTOP_BUILD)
+    gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
+#endif
 
-	motors.armed(false);
-	compass.save_offsets();
+    motors.armed(false);
+    compass.save_offsets();
 
-	g.throttle_cruise.save();
+    g.throttle_cruise.save();
 
-	// we are not in the air
-	takeoff_complete = false;
+    // we are not in the air
+    takeoff_complete = false;
 
-	#if COPTER_LEDS == ENABLED
-	if ( bitRead(g.copter_leds_mode, 3) ){
-		piezo_beep();
-	}
-	#endif
+#if COPTER_LEDS == ENABLED
+    if ( bitRead(g.copter_leds_mode, 3) ) {
+        piezo_beep();
+    }
+#endif
 
     // setup fast AHRS gains to get right attitude
     ahrs.set_fast_gains(true);
 }
 
 /*****************************************
- * Set the flight control servos based on the current calculated values
- *****************************************/
+* Set the flight control servos based on the current calculated values
+*****************************************/
 static void
 set_servos_4()
 {
-	// temp fix for bad attitude
-	g.rc_3.servo_out = min(g.rc_3.servo_out, 800);
+    // temp fix for bad attitude
+    g.rc_3.servo_out = min(g.rc_3.servo_out, 800);
 
-	motors.output();
+    motors.output();
 }