diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
index 339de3f821..c562813fdf 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
@@ -1,74 +1,74 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
 /*
-	AP_RangeFinder_MaxsonarXL.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
-	infrared proximity sensor
-	Code by Jose Julio and 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.
-
-	Sparkfun URL: http://www.sparkfun.com/products/9491
-	datasheet: http://www.sparkfun.com/datasheets/Sensors/Proximity/XL-EZ0-Datasheet.pdf
-
-	Sensor should be connected to one of the analog ports
-
-	Variables:
-		int raw_value : raw value from the sensor
-		int distance : distance in cm
-		int max_distance : maximum measurable distance (in cm)
-		int min_distance : minimum measurable distance (in cm)
-
-	Methods:
-		read() : read value from analog port and returns the distance (in cm)
-
-*/
+ *       AP_RangeFinder_MaxsonarXL.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
+ *       infrared proximity sensor
+ *       Code by Jose Julio and 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.
+ *
+ *       Sparkfun URL: http://www.sparkfun.com/products/9491
+ *       datasheet: http://www.sparkfun.com/datasheets/Sensors/Proximity/XL-EZ0-Datasheet.pdf
+ *
+ *       Sensor should be connected to one of the analog ports
+ *
+ *       Variables:
+ *               int raw_value : raw value from the sensor
+ *               int distance : distance in cm
+ *               int max_distance : maximum measurable distance (in cm)
+ *               int min_distance : minimum measurable distance (in cm)
+ *
+ *       Methods:
+ *               read() : read value from analog port and returns the distance (in cm)
+ *
+ */
 
 // AVR LibC Includes
 #if defined(ARDUINO) && ARDUINO >= 100
-	#include "Arduino.h"
+ #include "Arduino.h"
 #else
-	#include "WConstants.h"
+ #include "WConstants.h"
 #endif
 #include "AP_RangeFinder_MaxsonarXL.h"
 
 // Constructor //////////////////////////////////////////////////////////////
 
-AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, FilterInt16 *filter):
-		RangeFinder(source, filter),
-		_scaler(AP_RANGEFINDER_MAXSONARXL_SCALER)
-	{
-    	max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
-		min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
-	}
+AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, FilterInt16 *filter) :
+    RangeFinder(source, filter),
+    _scaler(AP_RANGEFINDER_MAXSONARXL_SCALER)
+{
+    max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
+    min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
+}
 
 // Public Methods //////////////////////////////////////////////////////////////
 float AP_RangeFinder_MaxsonarXL::calculate_scaler(int sonar_type, float adc_refence_voltage)
 {
     float type_scaler = 1.0;
-	switch(sonar_type) {
-		case AP_RANGEFINDER_MAXSONARXL:
-		    type_scaler = AP_RANGEFINDER_MAXSONARXL_SCALER;
-		    min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
-		    max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
-			break;
-		case AP_RANGEFINDER_MAXSONARLV:
-		    type_scaler = AP_RANGEFINDER_MAXSONARLV_SCALER;
-		    min_distance = AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE;
-		    max_distance = AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE;
-			break;
-		case AP_RANGEFINDER_MAXSONARXLL:
-		    type_scaler = AP_RANGEFINDER_MAXSONARXLL_SCALER;
-		    min_distance = AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE;
-		    max_distance = AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE;
-			break;
-		case AP_RANGEFINDER_MAXSONARHRLV:
-		    type_scaler = AP_RANGEFINDER_MAXSONARHRLV_SCALER;
-		    min_distance = AP_RANGEFINDER_MAXSONARHRLV_MIN_DISTANCE;
-		    max_distance = AP_RANGEFINDER_MAXSONARHRLV_MAX_DISTANCE;
-			break;
+    switch(sonar_type) {
+    case AP_RANGEFINDER_MAXSONARXL:
+        type_scaler = AP_RANGEFINDER_MAXSONARXL_SCALER;
+        min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
+        max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
+        break;
+    case AP_RANGEFINDER_MAXSONARLV:
+        type_scaler = AP_RANGEFINDER_MAXSONARLV_SCALER;
+        min_distance = AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE;
+        max_distance = AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE;
+        break;
+    case AP_RANGEFINDER_MAXSONARXLL:
+        type_scaler = AP_RANGEFINDER_MAXSONARXLL_SCALER;
+        min_distance = AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE;
+        max_distance = AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE;
+        break;
+    case AP_RANGEFINDER_MAXSONARHRLV:
+        type_scaler = AP_RANGEFINDER_MAXSONARHRLV_SCALER;
+        min_distance = AP_RANGEFINDER_MAXSONARHRLV_MIN_DISTANCE;
+        max_distance = AP_RANGEFINDER_MAXSONARHRLV_MAX_DISTANCE;
+        break;
     }
-	_scaler = type_scaler * adc_refence_voltage / 5.0;
-	return _scaler;
+    _scaler = type_scaler * adc_refence_voltage / 5.0;
+    return _scaler;
 }