diff --git a/src/main/drivers/accgyro_mpu6050.h b/src/main/drivers/accgyro_mpu6050.h
index 3e947f8fff..d8649a3c6f 100644
--- a/src/main/drivers/accgyro_mpu6050.h
+++ b/src/main/drivers/accgyro_mpu6050.h
@@ -18,4 +18,4 @@
 #pragma once
 
 bool mpu6050AccDetect(acc_t *acc);
-bool mpu6050GyroDetect(gyro_t *gyro);
\ No newline at end of file
+bool mpu6050GyroDetect(gyro_t *gyro);
diff --git a/src/main/drivers/accgyro_spi_mpu6500.h b/src/main/drivers/accgyro_spi_mpu6500.h
index 8b2fe95827..a8d5cf514a 100755
--- a/src/main/drivers/accgyro_spi_mpu6500.h
+++ b/src/main/drivers/accgyro_spi_mpu6500.h
@@ -23,4 +23,4 @@ bool mpu6500SpiAccDetect(acc_t *acc);
 bool mpu6500SpiGyroDetect(gyro_t *gyro);
 
 bool mpu6500WriteRegister(uint8_t reg, uint8_t data);
-bool mpu6500ReadRegister(uint8_t reg, uint8_t length, uint8_t *data);
\ No newline at end of file
+bool mpu6500ReadRegister(uint8_t reg, uint8_t length, uint8_t *data);
diff --git a/src/main/drivers/barometer.h b/src/main/drivers/barometer.h
index 1d9d8f8914..dec11ad3c2 100644
--- a/src/main/drivers/barometer.h
+++ b/src/main/drivers/barometer.h
@@ -32,4 +32,4 @@ typedef struct baro_s {
 
 #ifndef BARO_I2C_INSTANCE
 #define BARO_I2C_INSTANCE I2C_DEVICE
-#endif
\ No newline at end of file
+#endif
diff --git a/src/main/drivers/compass.h b/src/main/drivers/compass.h
index 68d44442f4..b20ae332bc 100644
--- a/src/main/drivers/compass.h
+++ b/src/main/drivers/compass.h
@@ -24,4 +24,4 @@ typedef struct mag_s {
 
 #ifndef MAG_I2C_INSTANCE
 #define MAG_I2C_INSTANCE I2C_DEVICE
-#endif
\ No newline at end of file
+#endif
diff --git a/src/main/drivers/io.c b/src/main/drivers/io.c
index 0ba9d9169b..6a5761979f 100644
--- a/src/main/drivers/io.c
+++ b/src/main/drivers/io.c
@@ -207,8 +207,8 @@ void IOInit(IO_t io, resourceOwner_t owner, resourceType_t resource, uint8_t ind
 {
     ioRec_t *ioRec = IO_Rec(io);
     ioRec->owner = owner;
-	ioRec->resource = resource;
-	ioRec->index = index;
+    ioRec->resource = resource;
+    ioRec->index = index;
 }
 
 void IORelease(IO_t io)
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index c8600d4307..3016e97325 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -167,7 +167,7 @@ static void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndP
     }
 }
 
-static void applyAccelerationTrims(flightDynamicsTrims_t *accelerationTrims)
+static void applyAccelerationTrims(const flightDynamicsTrims_t *accelerationTrims)
 {
     accSmooth[X] -= accelerationTrims->raw[X];
     accSmooth[Y] -= accelerationTrims->raw[Y];
diff --git a/src/main/sensors/boardalignment.c b/src/main/sensors/boardalignment.c
index d7a6784c80..42ede9155d 100644
--- a/src/main/sensors/boardalignment.c
+++ b/src/main/sensors/boardalignment.c
@@ -30,12 +30,12 @@
 static bool standardBoardAlignment = true;     // board orientation correction
 static float boardRotation[3][3];              // matrix
 
-static bool isBoardAlignmentStandard(boardAlignment_t *boardAlignment)
+static bool isBoardAlignmentStandard(const boardAlignment_t *boardAlignment)
 {
     return !boardAlignment->rollDegrees && !boardAlignment->pitchDegrees && !boardAlignment->yawDegrees;
 }
 
-void initBoardAlignment(boardAlignment_t *boardAlignment)
+void initBoardAlignment(const boardAlignment_t *boardAlignment)
 {
     if (isBoardAlignmentStandard(boardAlignment)) {
         return;
@@ -62,7 +62,7 @@ static void alignBoard(int32_t *vec)
     vec[Z] = lrintf(boardRotation[0][Z] * x + boardRotation[1][Z] * y + boardRotation[2][Z] * z);
 }
 
-void alignSensors(int32_t *src, int32_t *dest, uint8_t rotation)
+void alignSensors(const int32_t *src, int32_t *dest, uint8_t rotation)
 {
     static uint32_t swap[3];
     memcpy(swap, src, sizeof(swap));
diff --git a/src/main/sensors/boardalignment.h b/src/main/sensors/boardalignment.h
index eea1f23c87..e1e704be03 100644
--- a/src/main/sensors/boardalignment.h
+++ b/src/main/sensors/boardalignment.h
@@ -23,5 +23,5 @@ typedef struct boardAlignment_s {
     int32_t yawDegrees;
 } boardAlignment_t;
 
-void alignSensors(int32_t *src, int32_t *dest, uint8_t rotation);
-void initBoardAlignment(boardAlignment_t *boardAlignment);
+void alignSensors(const int32_t *src, int32_t *dest, uint8_t rotation);
+void initBoardAlignment(const boardAlignment_t *boardAlignment);