diff --git a/libraries/AP_Motors/AP_MotorsTri.cpp b/libraries/AP_Motors/AP_MotorsTri.cpp
index 8cab79b7c6..00158f464e 100644
--- a/libraries/AP_Motors/AP_MotorsTri.cpp
+++ b/libraries/AP_Motors/AP_MotorsTri.cpp
@@ -1,188 +1,188 @@
 /*
-	AP_MotorsTri.cpp - ArduCopter motors library
-	Code by RandyMackay. 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.
-*/
+ *       AP_MotorsTri.cpp - ArduCopter motors library
+ *       Code by RandyMackay. 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.
+ */
 
 #include "AP_MotorsTri.h"
 
 // init
 void AP_MotorsTri::Init()
 {
-	// set update rate for the 3 motors (but not the servo on channel 7)
-	set_update_rate(_speed_hz);
+    // set update rate for the 3 motors (but not the servo on channel 7)
+    set_update_rate(_speed_hz);
 }
 
 // set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
 void AP_MotorsTri::set_update_rate( uint16_t speed_hz )
 {
-	// record requested speed
-	_speed_hz = speed_hz;
+    // record requested speed
+    _speed_hz = speed_hz;
 
-	// set update rate for the 3 motors (but not the servo on channel 7)
-	if( _speed_hz != AP_MOTORS_SPEED_INSTANT_PWM ) {
-		_rc->SetFastOutputChannels(_BV(_motor_to_channel_map[AP_MOTORS_MOT_1]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_2]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_4]), _speed_hz);
-	}
+    // set update rate for the 3 motors (but not the servo on channel 7)
+    if( _speed_hz != AP_MOTORS_SPEED_INSTANT_PWM ) {
+        _rc->SetFastOutputChannels(_BV(_motor_to_channel_map[AP_MOTORS_MOT_1]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_2]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_4]), _speed_hz);
+    }
 }
 
-	// enable - starts allowing signals to be sent to motors
+// enable - starts allowing signals to be sent to motors
 void AP_MotorsTri::enable()
 {
-	// enable output channels
-	_rc->enable_out(_motor_to_channel_map[AP_MOTORS_MOT_1]);
-	_rc->enable_out(_motor_to_channel_map[AP_MOTORS_MOT_2]);
-	_rc->enable_out(_motor_to_channel_map[AP_MOTORS_MOT_4]);
-	_rc->enable_out(AP_MOTORS_CH_TRI_YAW);
+    // enable output channels
+    _rc->enable_out(_motor_to_channel_map[AP_MOTORS_MOT_1]);
+    _rc->enable_out(_motor_to_channel_map[AP_MOTORS_MOT_2]);
+    _rc->enable_out(_motor_to_channel_map[AP_MOTORS_MOT_4]);
+    _rc->enable_out(AP_MOTORS_CH_TRI_YAW);
 }
 
 // output_min - sends minimum values out to the motors
 void AP_MotorsTri::output_min()
 {
-	// fill the motor_out[] array for HIL use
-	motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_min;
-	motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_min;
-	motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_min;
+    // fill the motor_out[] array for HIL use
+    motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_min;
+    motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_min;
+    motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_min;
 
-	// send minimum value to each motor
-	_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle->radio_min);
-	_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min);
-	_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle->radio_min);
-	_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_CH_TRI_YAW], _rc_yaw->radio_trim);
+    // send minimum value to each motor
+    _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle->radio_min);
+    _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min);
+    _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle->radio_min);
+    _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_CH_TRI_YAW], _rc_yaw->radio_trim);
 
-	// InstantPWM
-	if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) {
-		_rc->Force_Out0_Out1();
-		_rc->Force_Out2_Out3();
-	}
+    // InstantPWM
+    if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) {
+        _rc->Force_Out0_Out1();
+        _rc->Force_Out2_Out3();
+    }
 }
 
 // output_armed - sends commands to the motors
 void AP_MotorsTri::output_armed()
 {
-	int16_t out_min = _rc_throttle->radio_min;
-	int16_t out_max = _rc_throttle->radio_max;
+    int16_t out_min = _rc_throttle->radio_min;
+    int16_t out_max = _rc_throttle->radio_max;
 
-	// Throttle is 0 to 1000 only
-	_rc_throttle->servo_out = constrain(_rc_throttle->servo_out, 0, _max_throttle);
+    // Throttle is 0 to 1000 only
+    _rc_throttle->servo_out = constrain(_rc_throttle->servo_out, 0, _max_throttle);
 
-	if(_rc_throttle->servo_out > 0)
-		out_min = _rc_throttle->radio_min + _min_throttle;
+    if(_rc_throttle->servo_out > 0)
+        out_min = _rc_throttle->radio_min + _min_throttle;
 
-	// capture desired roll, pitch, yaw and throttle from receiver
-	_rc_roll->calc_pwm();
-	_rc_pitch->calc_pwm();
-	_rc_throttle->calc_pwm();
-	_rc_yaw->calc_pwm();
+    // capture desired roll, pitch, yaw and throttle from receiver
+    _rc_roll->calc_pwm();
+    _rc_pitch->calc_pwm();
+    _rc_throttle->calc_pwm();
+    _rc_yaw->calc_pwm();
 
-	int roll_out 		= (float)_rc_roll->pwm_out * .866;
-	int pitch_out 		= _rc_pitch->pwm_out / 2;
+    int roll_out            = (float)_rc_roll->pwm_out * .866;
+    int pitch_out           = _rc_pitch->pwm_out / 2;
 
-	//left front
-	motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_out + roll_out + pitch_out;
-	//right front
-	motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_out - roll_out + pitch_out;
-	// rear
-	motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_out - _rc_pitch->pwm_out;
+    //left front
+    motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_out + roll_out + pitch_out;
+    //right front
+    motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_out - roll_out + pitch_out;
+    // rear
+    motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_out - _rc_pitch->pwm_out;
 
-	// Tridge's stability patch
-	if(motor_out[AP_MOTORS_MOT_1] > out_max){
-		motor_out[AP_MOTORS_MOT_2] -= (motor_out[AP_MOTORS_MOT_1] - out_max) >> 1;
-		motor_out[AP_MOTORS_MOT_4] -= (motor_out[AP_MOTORS_MOT_1] - out_max) >> 1;
-		motor_out[AP_MOTORS_MOT_1] = out_max;
-	}
+    // Tridge's stability patch
+    if(motor_out[AP_MOTORS_MOT_1] > out_max) {
+        motor_out[AP_MOTORS_MOT_2] -= (motor_out[AP_MOTORS_MOT_1] - out_max) >> 1;
+        motor_out[AP_MOTORS_MOT_4] -= (motor_out[AP_MOTORS_MOT_1] - out_max) >> 1;
+        motor_out[AP_MOTORS_MOT_1] = out_max;
+    }
 
-	if(motor_out[AP_MOTORS_MOT_2] > out_max){
-		motor_out[AP_MOTORS_MOT_1] -= (motor_out[AP_MOTORS_MOT_2] - out_max) >> 1;
-		motor_out[AP_MOTORS_MOT_4] -= (motor_out[AP_MOTORS_MOT_2] - out_max) >> 1;
-		motor_out[AP_MOTORS_MOT_2] = out_max;
-	}
+    if(motor_out[AP_MOTORS_MOT_2] > out_max) {
+        motor_out[AP_MOTORS_MOT_1] -= (motor_out[AP_MOTORS_MOT_2] - out_max) >> 1;
+        motor_out[AP_MOTORS_MOT_4] -= (motor_out[AP_MOTORS_MOT_2] - out_max) >> 1;
+        motor_out[AP_MOTORS_MOT_2] = out_max;
+    }
 
-	if(motor_out[AP_MOTORS_MOT_4] > out_max){
-		motor_out[AP_MOTORS_MOT_1] -= (motor_out[AP_MOTORS_MOT_4] - out_max) >> 1;
-		motor_out[AP_MOTORS_MOT_2] -= (motor_out[AP_MOTORS_MOT_4] - out_max) >> 1;
-		motor_out[AP_MOTORS_MOT_4] = out_max;
-	}
+    if(motor_out[AP_MOTORS_MOT_4] > out_max) {
+        motor_out[AP_MOTORS_MOT_1] -= (motor_out[AP_MOTORS_MOT_4] - out_max) >> 1;
+        motor_out[AP_MOTORS_MOT_2] -= (motor_out[AP_MOTORS_MOT_4] - out_max) >> 1;
+        motor_out[AP_MOTORS_MOT_4] = out_max;
+    }
 
-	// ensure motors don't drop below a minimum value and stop
-	motor_out[AP_MOTORS_MOT_1] = max(motor_out[AP_MOTORS_MOT_1], 	out_min);
-	motor_out[AP_MOTORS_MOT_2] = max(motor_out[AP_MOTORS_MOT_2], 	out_min);
-	motor_out[AP_MOTORS_MOT_4] = max(motor_out[AP_MOTORS_MOT_4], 	out_min);
+    // ensure motors don't drop below a minimum value and stop
+    motor_out[AP_MOTORS_MOT_1] = max(motor_out[AP_MOTORS_MOT_1],    out_min);
+    motor_out[AP_MOTORS_MOT_2] = max(motor_out[AP_MOTORS_MOT_2],    out_min);
+    motor_out[AP_MOTORS_MOT_4] = max(motor_out[AP_MOTORS_MOT_4],    out_min);
 
-	#if CUT_MOTORS == ENABLED
-	// if we are not sending a throttle output, we cut the motors
-	if(_rc_throttle->servo_out == 0){
-		motor_out[AP_MOTORS_MOT_1]	= _rc_throttle->radio_min;
-		motor_out[AP_MOTORS_MOT_2]	= _rc_throttle->radio_min;
-		motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_min;
-	}
-	#endif
+#if CUT_MOTORS == ENABLED
+    // if we are not sending a throttle output, we cut the motors
+    if(_rc_throttle->servo_out == 0) {
+        motor_out[AP_MOTORS_MOT_1]      = _rc_throttle->radio_min;
+        motor_out[AP_MOTORS_MOT_2]      = _rc_throttle->radio_min;
+        motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_min;
+    }
+#endif
 
-	// send output to each motor
-	_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_1], motor_out[AP_MOTORS_MOT_1]);
-	_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_2], motor_out[AP_MOTORS_MOT_2]);
-	_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_4], motor_out[AP_MOTORS_MOT_4]);
+    // send output to each motor
+    _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_1], motor_out[AP_MOTORS_MOT_1]);
+    _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_2], motor_out[AP_MOTORS_MOT_2]);
+    _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_4], motor_out[AP_MOTORS_MOT_4]);
 
-	// also send out to tail command (we rely on any auto pilot to have updated the rc_yaw->radio_out to the correct value)
-	// note we do not save the radio_out to the motor_out array so it may not appear in the ch7out in the status screen of the mission planner
-	// note: we use _rc_tail's (aka channel 7's) REV parameter to control whether the servo is reversed or not but this is a bit nonsensical.
-	//       a separate servo object (including min, max settings etc) would be better or at least a separate parameter to specify the direction of the tail servo
-	if( _rc_tail->get_reverse() == true ) {
-		_rc->OutputCh(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_trim - (_rc_yaw->radio_out - _rc_yaw->radio_trim));
-	}else{
-		_rc->OutputCh(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_out);
-	}
-		
-	// InstantPWM
-	if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) {
-		_rc->Force_Out0_Out1();
-		_rc->Force_Out2_Out3();
-	}
+    // also send out to tail command (we rely on any auto pilot to have updated the rc_yaw->radio_out to the correct value)
+    // note we do not save the radio_out to the motor_out array so it may not appear in the ch7out in the status screen of the mission planner
+    // note: we use _rc_tail's (aka channel 7's) REV parameter to control whether the servo is reversed or not but this is a bit nonsensical.
+    //       a separate servo object (including min, max settings etc) would be better or at least a separate parameter to specify the direction of the tail servo
+    if( _rc_tail->get_reverse() == true ) {
+        _rc->OutputCh(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_trim - (_rc_yaw->radio_out - _rc_yaw->radio_trim));
+    }else{
+        _rc->OutputCh(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_out);
+    }
+
+    // InstantPWM
+    if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) {
+        _rc->Force_Out0_Out1();
+        _rc->Force_Out2_Out3();
+    }
 }
 
 // output_disarmed - sends commands to the motors
 void AP_MotorsTri::output_disarmed()
 {
-	if(_rc_throttle->control_in > 0){
-		// we have pushed up the throttle
-		// remove safety
-		_auto_armed = true;
-	}
+    if(_rc_throttle->control_in > 0) {
+        // we have pushed up the throttle
+        // remove safety
+        _auto_armed = true;
+    }
 
-	// fill the motor_out[] array for HIL use
-	for (unsigned char i = AP_MOTORS_MOT_1; i < AP_MOTORS_MOT_4; i++){
-		motor_out[i] = _rc_throttle->radio_min;
-	}
+    // fill the motor_out[] array for HIL use
+    for (unsigned char i = AP_MOTORS_MOT_1; i < AP_MOTORS_MOT_4; i++) {
+        motor_out[i] = _rc_throttle->radio_min;
+    }
 
-	// Send minimum values to all motors
-	output_min();
+    // Send minimum values to all motors
+    output_min();
 }
 
 // output_disarmed - sends commands to the motors
 void AP_MotorsTri::output_test()
 {
-	// Send minimum values to all motors
-	output_min();
+    // Send minimum values to all motors
+    output_min();
 
-	_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min);
-	delay(4000);
-	_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle->radio_min + 100);
-	delay(300);
+    _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min);
+    delay(4000);
+    _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle->radio_min + 100);
+    delay(300);
 
-	_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle->radio_min);
-	delay(2000);
-	_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle->radio_min + 100);
-	delay(300);
+    _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle->radio_min);
+    delay(2000);
+    _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle->radio_min + 100);
+    delay(300);
 
-	_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle->radio_min);
-	delay(2000);
-	_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min + 100);
-	delay(300);
+    _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle->radio_min);
+    delay(2000);
+    _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min + 100);
+    delay(300);
 
-	_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_1], motor_out[AP_MOTORS_MOT_1]);
-	_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_2], motor_out[AP_MOTORS_MOT_2]);
-	_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_4], motor_out[AP_MOTORS_MOT_4]);
+    _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_1], motor_out[AP_MOTORS_MOT_1]);
+    _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_2], motor_out[AP_MOTORS_MOT_2]);
+    _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_4], motor_out[AP_MOTORS_MOT_4]);
 }
\ No newline at end of file