diff --git a/apps/mathlib/math/Dcm.cpp b/apps/mathlib/math/Dcm.cpp
index 25f4913a60..df0f09b205 100644
--- a/apps/mathlib/math/Dcm.cpp
+++ b/apps/mathlib/math/Dcm.cpp
@@ -53,20 +53,20 @@ Dcm::Dcm() :
 }
 
 Dcm::Dcm(float c00, float c01, float c02,
-	float c10, float c11, float c12,
-	float c20, float c21, float c22) :
+	 float c10, float c11, float c12,
+	 float c20, float c21, float c22) :
 	Matrix(3, 3)
 {
 	Dcm &dcm = *this;
-	dcm(0,0) = c00;
-	dcm(0,1) = c01;
-	dcm(0,2) = c02;
-	dcm(1,0) = c10;
-	dcm(1,1) = c11;
-	dcm(1,2) = c12;
-	dcm(2,0) = c20;
-	dcm(2,1) = c21;
-	dcm(2,2) = c22;
+	dcm(0, 0) = c00;
+	dcm(0, 1) = c01;
+	dcm(0, 2) = c02;
+	dcm(1, 0) = c10;
+	dcm(1, 1) = c11;
+	dcm(1, 2) = c12;
+	dcm(2, 0) = c20;
+	dcm(2, 1) = c21;
+	dcm(2, 2) = c22;
 }
 
 Dcm::Dcm(const float *data) :
@@ -138,16 +138,16 @@ int __EXPORT dcmTest()
 			   Matrix::identity(3)));
 	// quaternion ctor
 	ASSERT(matrixEqual(
-	 	Dcm(Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)),
-		Dcm( 0.9362934f, -0.2750958f,  0.2183507f,  
- 			 0.2896295f,  0.9564251f, -0.0369570f, 
-			-0.1986693f,  0.0978434f,  0.9751703f)));
+		       Dcm(Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)),
+		       Dcm(0.9362934f, -0.2750958f,  0.2183507f,
+			   0.2896295f,  0.9564251f, -0.0369570f,
+			   -0.1986693f,  0.0978434f,  0.9751703f)));
 	// euler angle ctor
 	ASSERT(matrixEqual(
-		Dcm(EulerAngles(0.1f, 0.2f, 0.3f)),
-		Dcm( 0.9362934f, -0.2750958f,  0.2183507f,  
- 			 0.2896295f,  0.9564251f, -0.0369570f, 
-			-0.1986693f,  0.0978434f,  0.9751703f)));
+		       Dcm(EulerAngles(0.1f, 0.2f, 0.3f)),
+		       Dcm(0.9362934f, -0.2750958f,  0.2183507f,
+			   0.2896295f,  0.9564251f, -0.0369570f,
+			   -0.1986693f,  0.0978434f,  0.9751703f)));
 	// rotations
 	Vector3 vB(1, 2, 3);
 	ASSERT(vectorEqual(Vector3(-2.0f, 1.0f, 3.0f),
diff --git a/apps/mathlib/math/Dcm.hpp b/apps/mathlib/math/Dcm.hpp
index 781933e9e5..28d840b100 100644
--- a/apps/mathlib/math/Dcm.hpp
+++ b/apps/mathlib/math/Dcm.hpp
@@ -68,8 +68,8 @@ public:
 	 * scalar ctor
 	 */
 	Dcm(float c00, float c01, float c02,
-			float c10, float c11, float c12,
-			float c20, float c21, float c22);
+	    float c10, float c11, float c12,
+	    float c20, float c21, float c22);
 
 	/**
 	 * data ctor
diff --git a/apps/mathlib/math/EulerAngles.cpp b/apps/mathlib/math/EulerAngles.cpp
index 16864aec24..2e96fef4cb 100644
--- a/apps/mathlib/math/EulerAngles.cpp
+++ b/apps/mathlib/math/EulerAngles.cpp
@@ -107,17 +107,17 @@ int __EXPORT eulerAnglesTest()
 
 	// test dcm ctor
 	euler = Dcm(EulerAngles(0.1f, 0.2f, 0.3f));
-	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f),euler));
+	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
 
 	// test quat ctor
 	euler = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
-	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f),euler));
+	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
 
 	// test assignment
 	euler.setPhi(0.4f);
 	euler.setTheta(0.5f);
 	euler.setPsi(0.6f);
-	ASSERT(vectorEqual(Vector3(0.4f, 0.5f, 0.6f),euler));
+	ASSERT(vectorEqual(Vector3(0.4f, 0.5f, 0.6f), euler));
 
 	printf("PASS\n");
 	return 0;
diff --git a/apps/mathlib/math/Quaternion.cpp b/apps/mathlib/math/Quaternion.cpp
index 161b9d039a..78481b2868 100644
--- a/apps/mathlib/math/Quaternion.cpp
+++ b/apps/mathlib/math/Quaternion.cpp
@@ -82,13 +82,13 @@ Quaternion::Quaternion(const Dcm &dcm) :
 	// avoiding singularities by not using
 	// division equations
 	setA(0.5 * sqrt(1.0 +
-		double( dcm(0, 0) + dcm(1, 1) + dcm(2, 2))));
+			double(dcm(0, 0) + dcm(1, 1) + dcm(2, 2))));
 	setB(0.5 * sqrt(1.0 +
-		double( dcm(0, 0) - dcm(1, 1) - dcm(2, 2))));
+			double(dcm(0, 0) - dcm(1, 1) - dcm(2, 2))));
 	setC(0.5 * sqrt(1.0 +
-		double(-dcm(0, 0) + dcm(1, 1) - dcm(2, 2))));
+			double(-dcm(0, 0) + dcm(1, 1) - dcm(2, 2))));
 	setD(0.5 * sqrt(1.0 +
-		double(-dcm(0, 0) - dcm(1, 1) + dcm(2, 2))));
+			double(-dcm(0, 0) - dcm(1, 1) + dcm(2, 2))));
 }
 
 Quaternion::Quaternion(const EulerAngles &euler) :