diff --git a/src/main/common/filter.c b/src/main/common/filter.c
index 5b580a14e1..cd44aa1b53 100644
--- a/src/main/common/filter.c
+++ b/src/main/common/filter.c
@@ -89,22 +89,22 @@ void biquadFilterInit(biquadFilter_t *filter, float filterFreq, uint32_t refresh
     float b0 = 0, b1 = 0, b2 = 0, a0 = 0, a1 = 0, a2 = 0;
 
     switch (filterType) {
-        case FILTER_LPF:
-            b0 = (1 - cs) / 2;
-            b1 = 1 - cs;
-            b2 = (1 - cs) / 2;
-            a0 = 1 + alpha;
-            a1 = -2 * cs;
-            a2 = 1 - alpha;
-            break;
-        case FILTER_NOTCH:
-            b0 =  1;
-            b1 = -2 * cs;
-            b2 =  1;
-            a0 =  1 + alpha;
-            a1 = -2 * cs;
-            a2 =  1 - alpha;
-            break;
+    case FILTER_LPF:
+        b0 = (1 - cs) / 2;
+        b1 = 1 - cs;
+        b2 = (1 - cs) / 2;
+        a0 = 1 + alpha;
+        a1 = -2 * cs;
+        a2 = 1 - alpha;
+        break;
+    case FILTER_NOTCH:
+        b0 =  1;
+        b1 = -2 * cs;
+        b2 =  1;
+        a0 =  1 + alpha;
+        a1 = -2 * cs;
+        a2 =  1 - alpha;
+        break;
     }
 
     // precompute the coefficients
diff --git a/src/main/fc/mw.c b/src/main/fc/mw.c
index 0743b6cff8..00e8cddda1 100644
--- a/src/main/fc/mw.c
+++ b/src/main/fc/mw.c
@@ -212,16 +212,16 @@ void processRcCommand(void)
         if (isRXDataNew) {
             // Set RC refresh rate for sampling and channels to filter
             switch (rxConfig()->rcInterpolation) {
-                case(RC_SMOOTHING_AUTO):
-                    rxRefreshRate = constrain(getTaskDeltaTime(TASK_RX), 1000, 20000) + 1000; // Add slight overhead to prevent ramps
-                    break;
-                case(RC_SMOOTHING_MANUAL):
-                    rxRefreshRate = 1000 * rxConfig()->rcInterpolationInterval;
-                    break;
-                case(RC_SMOOTHING_OFF):
-                case(RC_SMOOTHING_DEFAULT):
-                default:
-                    rxRefreshRate = rxGetRefreshRate();
+            case(RC_SMOOTHING_AUTO):
+                rxRefreshRate = constrain(getTaskDeltaTime(TASK_RX), 1000, 20000) + 1000; // Add slight overhead to prevent ramps
+                break;
+            case(RC_SMOOTHING_MANUAL):
+                rxRefreshRate = 1000 * rxConfig()->rcInterpolationInterval;
+                break;
+            case(RC_SMOOTHING_OFF):
+            case(RC_SMOOTHING_DEFAULT):
+            default:
+                rxRefreshRate = rxGetRefreshRate();
             }
 
             rcInterpolationFactor = rxRefreshRate / targetPidLooptime + 1;
@@ -696,71 +696,71 @@ void subTaskMainSubprocesses(void)
         gyro.dev.temperature(&telemTemperature1);
     }
 
-    #ifdef MAG
-            if (sensors(SENSOR_MAG)) {
-                updateMagHold();
-            }
-    #endif
-
-    #ifdef GTUNE
-            updateGtuneState();
-    #endif
-
-    #if defined(BARO) || defined(SONAR)
-            // updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
-            updateRcCommands();
-            if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
-                if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
-                    applyAltHold(&masterConfig.airplaneConfig);
-                }
-            }
-    #endif
-
-        // If we're armed, at minimum throttle, and we do arming via the
-        // sticks, do not process yaw input from the rx.  We do this so the
-        // motors do not spin up while we are trying to arm or disarm.
-        // Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
-        if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
-    #ifndef USE_QUAD_MIXER_ONLY
-    #ifdef USE_SERVOS
-                    && !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoMixerConfig()->tri_unarmed_servo)
-    #endif
-                    && mixerConfig()->mixerMode != MIXER_AIRPLANE
-                    && mixerConfig()->mixerMode != MIXER_FLYING_WING
-    #endif
-        ) {
-            rcCommand[YAW] = 0;
-            setpointRate[YAW] = 0;
+#ifdef MAG
+        if (sensors(SENSOR_MAG)) {
+            updateMagHold();
         }
+#endif
 
-        if (throttleCorrectionConfig()->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
-            rcCommand[THROTTLE] += calculateThrottleAngleCorrection(throttleCorrectionConfig()->throttle_correction_value);
-        }
+#ifdef GTUNE
+        updateGtuneState();
+#endif
 
-        processRcCommand();
-
-    #ifdef GPS
-        if (sensors(SENSOR_GPS)) {
-            if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
-                updateGpsStateForHomeAndHoldMode();
+#if defined(BARO) || defined(SONAR)
+        // updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
+        updateRcCommands();
+        if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
+            if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
+                applyAltHold(&masterConfig.airplaneConfig);
             }
         }
-    #endif
+#endif
 
-    #ifdef USE_SDCARD
-        afatfs_poll();
-    #endif
+    // If we're armed, at minimum throttle, and we do arming via the
+    // sticks, do not process yaw input from the rx.  We do this so the
+    // motors do not spin up while we are trying to arm or disarm.
+    // Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
+    if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
+#ifndef USE_QUAD_MIXER_ONLY
+#ifdef USE_SERVOS
+                && !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoMixerConfig()->tri_unarmed_servo)
+#endif
+                && mixerConfig()->mixerMode != MIXER_AIRPLANE
+                && mixerConfig()->mixerMode != MIXER_FLYING_WING
+#endif
+    ) {
+        rcCommand[YAW] = 0;
+        setpointRate[YAW] = 0;
+    }
 
-    #ifdef BLACKBOX
-        if (!cliMode && feature(FEATURE_BLACKBOX)) {
-            handleBlackbox(startTime);
+    if (throttleCorrectionConfig()->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
+        rcCommand[THROTTLE] += calculateThrottleAngleCorrection(throttleCorrectionConfig()->throttle_correction_value);
+    }
+
+    processRcCommand();
+
+#ifdef GPS
+    if (sensors(SENSOR_GPS)) {
+        if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
+            updateGpsStateForHomeAndHoldMode();
         }
-    #endif
+    }
+#endif
 
-    #ifdef TRANSPONDER
-        transponderUpdate(startTime);
-    #endif
-        DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
+#ifdef USE_SDCARD
+    afatfs_poll();
+#endif
+
+#ifdef BLACKBOX
+    if (!cliMode && feature(FEATURE_BLACKBOX)) {
+        handleBlackbox(startTime);
+    }
+#endif
+
+#ifdef TRANSPONDER
+    transponderUpdate(startTime);
+#endif
+    DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
 }
 
 void subTaskMotorUpdate(void)
diff --git a/src/main/flight/servos.c b/src/main/flight/servos.c
index 707957aa54..314857d427 100755
--- a/src/main/flight/servos.c
+++ b/src/main/flight/servos.c
@@ -269,50 +269,50 @@ void writeServos(void)
     uint8_t servoIndex = 0;
 
     switch (currentMixerMode) {
-        case MIXER_BICOPTER:
-            pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_LEFT]);
-            pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_RIGHT]);
-            break;
+    case MIXER_BICOPTER:
+        pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_LEFT]);
+        pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_RIGHT]);
+        break;
 
-        case MIXER_TRI:
-        case MIXER_CUSTOM_TRI:
-            if (servoMixerConfig->tri_unarmed_servo) {
-                // if unarmed flag set, we always move servo
+    case MIXER_TRI:
+    case MIXER_CUSTOM_TRI:
+        if (servoMixerConfig->tri_unarmed_servo) {
+            // if unarmed flag set, we always move servo
+            pwmWriteServo(servoIndex++, servo[SERVO_RUDDER]);
+        } else {
+            // otherwise, only move servo when copter is armed
+            if (ARMING_FLAG(ARMED))
                 pwmWriteServo(servoIndex++, servo[SERVO_RUDDER]);
-            } else {
-                // otherwise, only move servo when copter is armed
-                if (ARMING_FLAG(ARMED))
-                    pwmWriteServo(servoIndex++, servo[SERVO_RUDDER]);
-                else
-                    pwmWriteServo(servoIndex++, 0); // kill servo signal completely.
-            }
-            break;
+            else
+                pwmWriteServo(servoIndex++, 0); // kill servo signal completely.
+        }
+        break;
 
-        case MIXER_FLYING_WING:
-            pwmWriteServo(servoIndex++, servo[SERVO_FLAPPERON_1]);
-            pwmWriteServo(servoIndex++, servo[SERVO_FLAPPERON_2]);
-            break;
+    case MIXER_FLYING_WING:
+        pwmWriteServo(servoIndex++, servo[SERVO_FLAPPERON_1]);
+        pwmWriteServo(servoIndex++, servo[SERVO_FLAPPERON_2]);
+        break;
 
-        case MIXER_DUALCOPTER:
-            pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_LEFT]);
-            pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_RIGHT]);
-            break;
+    case MIXER_DUALCOPTER:
+        pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_LEFT]);
+        pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_RIGHT]);
+        break;
 
-        case MIXER_CUSTOM_AIRPLANE:
-        case MIXER_AIRPLANE:
-            for (int i = SERVO_PLANE_INDEX_MIN; i <= SERVO_PLANE_INDEX_MAX; i++) {
-                pwmWriteServo(servoIndex++, servo[i]);
-            }
-            break;
+    case MIXER_CUSTOM_AIRPLANE:
+    case MIXER_AIRPLANE:
+        for (int i = SERVO_PLANE_INDEX_MIN; i <= SERVO_PLANE_INDEX_MAX; i++) {
+            pwmWriteServo(servoIndex++, servo[i]);
+        }
+        break;
 
-        case MIXER_SINGLECOPTER:
-            for (int i = SERVO_SINGLECOPTER_INDEX_MIN; i <= SERVO_SINGLECOPTER_INDEX_MAX; i++) {
-                pwmWriteServo(servoIndex++, servo[i]);
-            }
-            break;
+    case MIXER_SINGLECOPTER:
+        for (int i = SERVO_SINGLECOPTER_INDEX_MIN; i <= SERVO_SINGLECOPTER_INDEX_MAX; i++) {
+            pwmWriteServo(servoIndex++, servo[i]);
+        }
+        break;
 
-        default:
-            break;
+    default:
+        break;
     }
 
     // Two servos for SERVO_TILT, if enabled
@@ -410,27 +410,27 @@ void servoTable(void)
 {
     // airplane / servo mixes
     switch (currentMixerMode) {
-        case MIXER_CUSTOM_AIRPLANE:
-        case MIXER_FLYING_WING:
-        case MIXER_AIRPLANE:
-        case MIXER_BICOPTER:
-        case MIXER_CUSTOM_TRI:
-        case MIXER_TRI:
-        case MIXER_DUALCOPTER:
-        case MIXER_SINGLECOPTER:
-        case MIXER_GIMBAL:
-            servoMixer();
-            break;
+    case MIXER_CUSTOM_AIRPLANE:
+    case MIXER_FLYING_WING:
+    case MIXER_AIRPLANE:
+    case MIXER_BICOPTER:
+    case MIXER_CUSTOM_TRI:
+    case MIXER_TRI:
+    case MIXER_DUALCOPTER:
+    case MIXER_SINGLECOPTER:
+    case MIXER_GIMBAL:
+        servoMixer();
+        break;
 
-        /*
-        case MIXER_GIMBAL:
-            servo[SERVO_GIMBAL_PITCH] = (((int32_t)servoConf[SERVO_GIMBAL_PITCH].rate * attitude.values.pitch) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_PITCH);
-            servo[SERVO_GIMBAL_ROLL] = (((int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * attitude.values.roll) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_ROLL);
-            break;
-        */
+    /*
+    case MIXER_GIMBAL:
+        servo[SERVO_GIMBAL_PITCH] = (((int32_t)servoConf[SERVO_GIMBAL_PITCH].rate * attitude.values.pitch) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_PITCH);
+        servo[SERVO_GIMBAL_ROLL] = (((int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * attitude.values.roll) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_ROLL);
+        break;
+    */
 
-        default:
-            break;
+    default:
+        break;
     }
 
     // camera stabilization