diff --git a/sw/airborne/subsystems/ahrs/dcm/analogimu.c b/sw/airborne/subsystems/ahrs/dcm/analogimu.c
index 68971aec06..a8e7964cf7 100644
--- a/sw/airborne/subsystems/ahrs/dcm/analogimu.c
+++ b/sw/airborne/subsystems/ahrs/dcm/analogimu.c
@@ -1,6 +1,6 @@
 /*
  * $Id: analogimu.c $
- *  
+ *
  * Copyright (C) 2010 Oliver Riesener, Christoph Niemann
  *
  * This file is part of paparazzi.
@@ -18,7 +18,7 @@
  * You should have received a copy of the GNU General Public License
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA. 
+ * Boston, MA 02111-1307, USA.
  *
  */
 
@@ -65,7 +65,7 @@ float imu_pitch_neutral = RadOfDeg(IMU_PITCH_NEUTRAL_DEFAULT);
 /**
  * accel2ms2():
  *
- * \return accel[ACC_X], accel[ACC_Y], accel[ACC_Z]  
+ * \return accel[ACC_X], accel[ACC_Y], accel[ACC_Z]
  */
 static void accel2ms2( void ) {
   accel[ACC_X] = (float)(adc_average[3]) * IMU_ACCEL_X_SENS;
@@ -75,7 +75,7 @@ static void accel2ms2( void ) {
 /**
  * gyro2rads():
  *
- * \return gyro[G_ROLL], gyro[G_PITCH], gyro[G_YAW] 
+ * \return gyro[G_ROLL], gyro[G_PITCH], gyro[G_YAW]
  */
 static void gyro2rads( void ) {
   /** 150 grad/sec 10Bit, 3,3Volt, 1rad = 2Pi/1024 => Pi/512 */
@@ -84,7 +84,7 @@ static void gyro2rads( void ) {
   gyro[G_YAW]   = (float)(adc_average[2]) * IMU_GYRO_R_SENS;
 }
 
-void analog_imu_init( void ) { 
+void analog_imu_init( void ) {
   imu_impl_init();
 }
 
@@ -99,13 +99,13 @@ void analog_imu_offset_set( void ) {
   }
 
   // Z channel should read
-  analog_imu_offset[5] +=  (9.81f / IMU_ACCEL_Z_SENS); 
+  analog_imu_offset[5] +=  (9.81f / IMU_ACCEL_Z_SENS);
 }
 /**
  * analog_imu_update():
  */
 
-void analog_imu_update( void ) {  
+void analog_imu_update( void ) {
   uint8_t i;
 
   // read IMU
@@ -121,7 +121,7 @@ void analog_imu_update( void ) {
 
 // functions
 
-void analog_imu_downlink( void ) {  
+void analog_imu_downlink( void ) {
   //uint8_t id = 0;
   //float time = GET_CUR_TIME_FLOAT();
   //time *= 1000;//secs to msecs
@@ -140,12 +140,12 @@ void estimator_update_state_analog_imu( void ) {
   Gyro_Vector[0]= -gyro_to_zero[G_ROLL]   + gyro[G_ROLL];
   Gyro_Vector[1]= -gyro_to_zero[G_PITCH]  + gyro[G_PITCH];
   Gyro_Vector[2]= -gyro_to_zero[G_PITCH]  + gyro[G_YAW];
-  
+
   Accel_Vector[0] = accel[ACC_X];
   Accel_Vector[1] = accel[ACC_Y];
   Accel_Vector[2] = accel[ACC_Z];
 
-  
+
   Matrix_update();
   Normalize();
 
diff --git a/sw/airborne/subsystems/ahrs/dcm/dcm.c b/sw/airborne/subsystems/ahrs/dcm/dcm.c
index 46449771ca..dc9740715b 100644
--- a/sw/airborne/subsystems/ahrs/dcm/dcm.c
+++ b/sw/airborne/subsystems/ahrs/dcm/dcm.c
@@ -99,23 +99,23 @@ void Normalize(void)
   float temporary[3][3];
   float renorm=0;
   boolean problem=FALSE;
-  
+
   error= -Vector_Dot_Product(&DCM_Matrix[0][0],&DCM_Matrix[1][0])*.5; //eq.19
 
   Vector_Scale(&temporary[0][0], &DCM_Matrix[1][0], error); //eq.19
   Vector_Scale(&temporary[1][0], &DCM_Matrix[0][0], error); //eq.19
-  
+
   Vector_Add(&temporary[0][0], &temporary[0][0], &DCM_Matrix[0][0]);//eq.19
   Vector_Add(&temporary[1][0], &temporary[1][0], &DCM_Matrix[1][0]);//eq.19
-  
+
   Vector_Cross_Product(&temporary[2][0],&temporary[0][0],&temporary[1][0]); // c= a x b //eq.20
-  
-  renorm= Vector_Dot_Product(&temporary[0][0],&temporary[0][0]); 
+
+  renorm= Vector_Dot_Product(&temporary[0][0],&temporary[0][0]);
   if (renorm < 1.5625f && renorm > 0.64f) {
     renorm= .5 * (3-renorm);                                                 //eq.21
   } else if (renorm < 100.0f && renorm > 0.01f) {
     renorm= 1. / sqrt(renorm);
-#if PERFORMANCE_REPORTING == 1  
+#if PERFORMANCE_REPORTING == 1
     renorm_sqrt_count++;
 #endif
 #if PRINT_DEBUG != 0
@@ -124,8 +124,8 @@ void Normalize(void)
     Serial.print (",ERR:");
     Serial.print (error);
     Serial.print (",TOW:");
-    Serial.print (iTOW);  
-    Serial.println("***");    
+    Serial.print (iTOW);
+    Serial.println("***");
 #endif
   } else {
     problem = TRUE;
@@ -138,18 +138,18 @@ void Normalize(void)
     Serial.print (",ERR:");
     Serial.print (error);
     Serial.print (",TOW:");
-    Serial.print (iTOW);  
-    Serial.println("***");    
+    Serial.print (iTOW);
+    Serial.println("***");
 #endif
   }
       Vector_Scale(&DCM_Matrix[0][0], &temporary[0][0], renorm);
-  
-  renorm= Vector_Dot_Product(&temporary[1][0],&temporary[1][0]); 
+
+  renorm= Vector_Dot_Product(&temporary[1][0],&temporary[1][0]);
   if (renorm < 1.5625f && renorm > 0.64f) {
     renorm= .5 * (3-renorm);                                                 //eq.21
   } else if (renorm < 100.0f && renorm > 0.01f) {
-    renorm= 1. / sqrt(renorm);  
-#if PERFORMANCE_REPORTING == 1    
+    renorm= 1. / sqrt(renorm);
+#if PERFORMANCE_REPORTING == 1
     renorm_sqrt_count++;
 #endif
 #if PRINT_DEBUG != 0
@@ -158,8 +158,8 @@ void Normalize(void)
     Serial.print (",ERR:");
     Serial.print (error);
     Serial.print (",TOW:");
-    Serial.print (iTOW);  
-    Serial.println("***");    
+    Serial.print (iTOW);
+    Serial.println("***");
 #endif
   } else {
     problem = TRUE;
@@ -172,18 +172,18 @@ void Normalize(void)
     Serial.print (",ERR:");
     Serial.print (error);
     Serial.print (",TOW:");
-    Serial.print (iTOW);  
-    Serial.println("***");    
+    Serial.print (iTOW);
+    Serial.println("***");
 #endif
   }
   Vector_Scale(&DCM_Matrix[1][0], &temporary[1][0], renorm);
-  
-  renorm= Vector_Dot_Product(&temporary[2][0],&temporary[2][0]); 
+
+  renorm= Vector_Dot_Product(&temporary[2][0],&temporary[2][0]);
   if (renorm < 1.5625f && renorm > 0.64f) {
     renorm= .5 * (3-renorm);                                                 //eq.21
   } else if (renorm < 100.0f && renorm > 0.01f) {
-    renorm= 1. / sqrt(renorm);   
-#if PERFORMANCE_REPORTING == 1 
+    renorm= 1. / sqrt(renorm);
+#if PERFORMANCE_REPORTING == 1
     renorm_sqrt_count++;
 #endif
 #if PRINT_DEBUG != 0
@@ -192,11 +192,11 @@ void Normalize(void)
     Serial.print (",ERR:");
     Serial.print (error);
     Serial.print (",TOW:");
-    Serial.print (iTOW);  
-    Serial.println("***");    
+    Serial.print (iTOW);
+    Serial.println("***");
 #endif
   } else {
-    problem = TRUE;  
+    problem = TRUE;
 #if PERFORMANCE_REPORTING == 1
     renorm_blowup_count++;
 #endif
@@ -204,12 +204,12 @@ void Normalize(void)
     Serial.print("???PRB:3,RNM:");
     Serial.print (renorm);
     Serial.print (",TOW:");
-    Serial.print (iTOW);  
-    Serial.println("***");    
+    Serial.print (iTOW);
+    Serial.println("***");
 #endif
   }
   Vector_Scale(&DCM_Matrix[2][0], &temporary[2][0], renorm);
-  
+
   if (problem) {                // Our solution is blowing up and we will force back to initial condition.  Hope we are not upside down!
       DCM_Matrix[0][0]= 1.0f;
       DCM_Matrix[0][1]= 0.0f;
@@ -220,7 +220,7 @@ void Normalize(void)
       DCM_Matrix[2][0]= 0.0f;
       DCM_Matrix[2][1]= 0.0f;
       DCM_Matrix[2][2]= 1.0f;
-      problem = FALSE;  
+      problem = FALSE;
   }
 }
 
@@ -240,7 +240,7 @@ float speed_3d = 0;
 
 void Drift_correction(void)
 {
-  //Compensation the Roll, Pitch and Yaw drift. 
+  //Compensation the Roll, Pitch and Yaw drift.
   static float Scaled_Omega_P[3];
   static float Scaled_Omega_I[3];
   float Accel_magnitude;
@@ -268,34 +268,34 @@ void Drift_correction(void)
   Accel_magnitude = Accel_magnitude / GRAVITY; // Scale to gravity.
   // Dynamic weighting of accelerometer info (reliability filter)
   // Weight for accelerometer info (<0.5G = 0.0, 1G = 1.0 , >1.5G = 0.0)
-  Accel_weight = Chop(1 - 2*fabs(1 - Accel_magnitude),0,1);  //  
-  
+  Accel_weight = Chop(1 - 2*fabs(1 - Accel_magnitude),0,1);  //
+
   #if PERFORMANCE_REPORTING == 1
     tempfloat = ((Accel_weight - 0.5) * 256.0f);    //amount added was determined to give imu_health a time constant about twice the time constant of the roll/pitch drift correction
     imu_health += tempfloat;
     Bound(imu_health,129,65405);
   #endif
-  
+
   Vector_Cross_Product(&errorRollPitch[0],&Accel_Vector[0],&DCM_Matrix[2][0]); //adjust the ground of reference
   Vector_Scale(&Omega_P[0],&errorRollPitch[0],Kp_ROLLPITCH*Accel_weight);
-  
+
   Vector_Scale(&Scaled_Omega_I[0],&errorRollPitch[0],Ki_ROLLPITCH*Accel_weight);
-  Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);     
-  
+  Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);
+
   //*****YAW***************
-  
-  #if USE_MAGNETOMETER==1 
+
+  #if USE_MAGNETOMETER==1
     // We make the gyro YAW drift correction based on compass magnetic heading
     mag_heading_x = cos(MAG_Heading);
     mag_heading_y = sin(MAG_Heading);
     errorCourse=(DCM_Matrix[0][0]*mag_heading_y) - (DCM_Matrix[1][0]*mag_heading_x);  //Calculating YAW error
     Vector_Scale(errorYaw,&DCM_Matrix[2][0],errorCourse); //Applys the yaw correction to the XYZ rotation of the aircraft, depeding the position.
-    
+
     Vector_Scale(&Scaled_Omega_P[0],&errorYaw[0],Kp_YAW);
     Vector_Add(Omega_P,Omega_P,Scaled_Omega_P);//Adding  Proportional.
-    
+
     Vector_Scale(&Scaled_Omega_I[0],&errorYaw[0],Ki_YAW);
-    Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I   
+    Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I
   #else  // Use GPS Ground course to correct yaw gyro drift
     if(gps_mode==3 && ground_speed>= 0.5)  //hwarm
   {
@@ -304,12 +304,12 @@ void Drift_correction(void)
     COGY = sin(RadOfDeg(ground_course));
     errorCourse=(DCM_Matrix[0][0]*COGY) - (DCM_Matrix[1][0]*COGX);  //Calculating YAW error
     Vector_Scale(errorYaw,&DCM_Matrix[2][0],errorCourse); //Applys the yaw correction to the XYZ rotation of the aircraft, depeding the position.
-  
+
     Vector_Scale(&Scaled_Omega_P[0],&errorYaw[0],Kp_YAW);
     Vector_Add(Omega_P,Omega_P,Scaled_Omega_P);//Adding  Proportional.
-  
+
     Vector_Scale(&Scaled_Omega_I[0],&errorYaw[0],Ki_YAW);
-    Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I   
+    Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I
   }
   #endif
   //  Here we will place a limit on the integrator so that the integrator cannot ever exceed half the saturation limit of the gyros
@@ -321,12 +321,12 @@ void Drift_correction(void)
     Serial.print (ToDeg(Integrator_magnitude));
 
     Serial.print (",TOW:");
-    Serial.print (iTOW);  
-    Serial.println("***");    
+    Serial.print (iTOW);
+    Serial.println("***");
 #endif
   }
-  
-  
+
+
 }
 /**************************************************/
 
@@ -338,11 +338,11 @@ void Matrix_update(void)
   if (gps_mode==3)    //Remove centrifugal acceleration.
   {
     Accel_Vector[1] += speed_3d*Omega[2];  // Centrifugal force on Acc_y = GPS_speed*GyroZ
-    Accel_Vector[2] -= speed_3d*Omega[1];  // Centrifugal force on Acc_z = GPS_speed*GyroY 
+    Accel_Vector[2] -= speed_3d*Omega[1];  // Centrifugal force on Acc_z = GPS_speed*GyroY
   }
 
-  
- #if OUTPUTMODE==1    // With corrected data (drift correction)     
+
+ #if OUTPUTMODE==1    // With corrected data (drift correction)
   Update_Matrix[0][0]=0;
   Update_Matrix[0][1]=-G_Dt*Omega_Vector[2];//-z
   Update_Matrix[0][2]=G_Dt*Omega_Vector[1];//y
@@ -371,7 +371,7 @@ void Matrix_update(void)
     for(int y=0; y<3; y++)
     {
       DCM_Matrix[x][y]+=Temporary_Matrix[x][y];
-    } 
+    }
   }
 }