diff --git a/sw/airborne/arch/stm32/subsystems/imu/imu_b2_arch.c b/sw/airborne/arch/stm32/subsystems/imu/imu_b2_arch.c
index 0f229c3de7..acad03c9a3 100644
--- a/sw/airborne/arch/stm32/subsystems/imu/imu_b2_arch.c
+++ b/sw/airborne/arch/stm32/subsystems/imu/imu_b2_arch.c
@@ -81,7 +81,7 @@ void imu_periodic(void) {
   SPI_Cmd(SPI2, ENABLE);
   max1168_read();
 #if IMU_B2_MAG_TYPE == IMU_B2_MAG_HMC5843
-	hmc5843_periodic();
+  hmc5843_periodic();
 #endif
 }
 
diff --git a/sw/airborne/boards/lisa_l/baro_board.h b/sw/airborne/boards/lisa_l/baro_board.h
index f6c59fd3c7..4eec5cfdee 100644
--- a/sw/airborne/boards/lisa_l/baro_board.h
+++ b/sw/airborne/boards/lisa_l/baro_board.h
@@ -36,24 +36,24 @@ extern void baro_board_send_config_abs(void);
 extern void baro_board_send_config_diff(void);
 
 #define BaroEvent(_b_abs_handler, _b_diff_handler) {			\
-    if (baro_board.status == LBS_READING_ABS &&				\
-	baro_trans.status != I2CTransPending) {				\
-      baro_board.status = LBS_READ_ABS;					\
-			if (baro_trans.status == I2CTransSuccess) { \
-				int16_t tmp = baro_trans.buf[0]<<8 | baro_trans.buf[1];		\
-				baro.absolute = tmp;						\
-				_b_abs_handler();							\
-			} \
-    }									\
+    if (baro_board.status == LBS_READING_ABS &&                 \
+        baro_trans.status != I2CTransPending) {                 \
+      baro_board.status = LBS_READ_ABS;                         \
+      if (baro_trans.status == I2CTransSuccess) {               \
+        int16_t tmp = baro_trans.buf[0]<<8 | baro_trans.buf[1]; \
+        baro.absolute = tmp;                                    \
+        _b_abs_handler();                                       \
+      }                                                         \
+    }                                                           \
     else  if (baro_board.status == LBS_READING_DIFF &&			\
-	      baro_trans.status != I2CTransPending) {			\
-      baro_board.status = LBS_READ_DIFF;				\
-			if (baro_trans.status == I2CTransSuccess) { \
-      	int16_t tmp = baro_trans.buf[0]<<8 | baro_trans.buf[1];		\
-      	baro.differential = tmp;						\
-      	_b_diff_handler();						\
-			} \
-    }									\
+              baro_trans.status != I2CTransPending) {			\
+      baro_board.status = LBS_READ_DIFF;                        \
+      if (baro_trans.status == I2CTransSuccess) {               \
+      	int16_t tmp = baro_trans.buf[0]<<8 | baro_trans.buf[1]; \
+      	baro.differential = tmp;                                \
+      	_b_diff_handler();                                      \
+      }                                                         \
+    }                                                           \
   }
 
 
diff --git a/sw/airborne/peripherals/hmc5843.c b/sw/airborne/peripherals/hmc5843.c
index 188b3d18b0..4eac86d75a 100644
--- a/sw/airborne/peripherals/hmc5843.c
+++ b/sw/airborne/peripherals/hmc5843.c
@@ -19,7 +19,7 @@ void hmc5843_init(void)
   hmc5843.i2c_trans.slave_addr = HMC5843_ADDR;
 
 #ifndef HMC5843_NO_IRQ
-    hmc5843_arch_init();
+  hmc5843_arch_init();
 #endif
 }
 
@@ -31,21 +31,21 @@ static void send_config(void)
   hmc5843.i2c_trans.buf[1] = 0x00 | (0x06 << 2);
   hmc5843.i2c_trans.len_w = 2;
   i2c_submit(&HMC5843_I2C_DEVICE,&hmc5843.i2c_trans);
-    while(hmc5843.i2c_trans.status == I2CTransPending);
+  while(hmc5843.i2c_trans.status == I2CTransPending);
 
   hmc5843.i2c_trans.type = I2CTransTx;
   hmc5843.i2c_trans.buf[0] = HMC5843_REG_CFGB;  // set to gain to 1 Gauss
   hmc5843.i2c_trans.buf[1] = 0x01<<5;
   hmc5843.i2c_trans.len_w = 2;
   i2c_submit(&HMC5843_I2C_DEVICE,&hmc5843.i2c_trans);
-    while(hmc5843.i2c_trans.status == I2CTransPending);
+  while(hmc5843.i2c_trans.status == I2CTransPending);
 
   hmc5843.i2c_trans.type = I2CTransTx;
   hmc5843.i2c_trans.buf[0] = HMC5843_REG_MODE;  // set to continuous mode
   hmc5843.i2c_trans.buf[1] = 0x00;
   hmc5843.i2c_trans.len_w = 2;
   i2c_submit(&HMC5843_I2C_DEVICE,&hmc5843.i2c_trans);
-    while(hmc5843.i2c_trans.status == I2CTransPending);
+  while(hmc5843.i2c_trans.status == I2CTransPending);
 
 }
 
@@ -123,8 +123,8 @@ void hmc5843_periodic(void)
   }
 
 #ifdef HMC5843_NO_IRQ
-    // < 50Hz
-    fake_mag_eoc = 1;
+  // < 50Hz
+  fake_mag_eoc = 1;
 #endif
 
 }
diff --git a/sw/airborne/peripherals/hmc5843.h b/sw/airborne/peripherals/hmc5843.h
index a198ddab11..ab71e07d80 100644
--- a/sw/airborne/peripherals/hmc5843.h
+++ b/sw/airborne/peripherals/hmc5843.h
@@ -73,11 +73,11 @@ extern void hmc5843_idle_task(void);
 
 #include <string.h>
 
-#define MagEvent(_m_handler) {						\
-      hmc5843_idle_task(); \
-    if (hmc5843.data_available) { \
-            _m_handler(); \
-    } \
+#define MagEvent(_m_handler) {                      \
+    hmc5843_idle_task();                            \
+    if (hmc5843.data_available) {                   \
+      _m_handler();                                 \
+    }                                               \
   }
 
 #endif /* HMC5843_H */
diff --git a/sw/airborne/subsystems/imu/imu_b2.h b/sw/airborne/subsystems/imu/imu_b2.h
index 91f7b34759..2c076d03ad 100644
--- a/sw/airborne/subsystems/imu/imu_b2.h
+++ b/sw/airborne/subsystems/imu/imu_b2.h
@@ -170,7 +170,7 @@
 #include "peripherals/hmc5843.h"
 #define foo_handler() {}
 #define ImuMagEvent(_mag_handler) {					\
-	  MagEvent(foo_handler); \
+    MagEvent(foo_handler);                          \
     if (hmc5843.data_available) {			\
       imu.mag_unscaled.x = hmc5843.data.value[IMU_MAG_X_CHAN];		\
       imu.mag_unscaled.y = hmc5843.data.value[IMU_MAG_Y_CHAN];		\