diff --git a/conf/airframes/ardrone2_sdk.xml b/conf/airframes/ardrone2_sdk.xml
index 792c0bc74f..cc4e08a018 100644
--- a/conf/airframes/ardrone2_sdk.xml
+++ b/conf/airframes/ardrone2_sdk.xml
@@ -2,109 +2,108 @@
 
 <airframe name="ardrone2_sdk">
 
-	<firmware name="rotorcraft">
-		<target name="ap" board="ardrone2_sdk">
-			<define name="USE_INS_NAV_INIT" />
-			<define name="ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLED"/>
-			<!-- <define name="ARDRONE2_DEBUG" /> -->
-			<!-- <define name="USE_GPS_HEIGHT" /> -->
-			<!-- <define name="ARDRONE_FLIGHT_INDOOR" /> -->
-			<!-- <define name="ARDRONE_WITHOUT_SHELL" /> -->
-			<!-- <define name="ARDRONE_OWNER_MAC" value="00:24:d7:47:f0:f4" /> -->
-		</target>
+  <firmware name="rotorcraft">
+    <target name="ap" board="ardrone2_sdk">
+      <define name="USE_INS_NAV_INIT" />
+      <define name="ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLED"/>
+      <!-- <define name="ARDRONE2_DEBUG" /> -->
+      <!-- <define name="USE_GPS_HEIGHT" /> -->
+      <!-- <define name="ARDRONE_FLIGHT_INDOOR" /> -->
+      <!-- <define name="ARDRONE_WITHOUT_SHELL" /> -->
+      <!-- <define name="ARDRONE_OWNER_MAC" value="00:24:d7:47:f0:f4" /> -->
+    </target>
 
-		<subsystem name="radio_control" type="datalink" />
-		<subsystem name="telemetry" type="udp" />
-		<subsystem name="gps" type="ardrone2" />
-		<subsystem name="ahrs" type="ardrone2" />
-		<subsystem name="ins" type="ardrone2" />
-		<subsystem name="actuators" type="ardrone2" />
-		<subsystem name="stabilization" type="passthrough"/>
+    <subsystem name="radio_control" type="datalink" />
+    <subsystem name="telemetry" type="udp" />
+    <subsystem name="gps" type="ardrone2" />
+    <subsystem name="ahrs" type="ardrone2" />
+    <subsystem name="ins" type="ardrone2" />
+    <subsystem name="actuators" type="ardrone2" />
+    <subsystem name="stabilization" type="passthrough"/>
     <subsystem name="imu" type="ardrone2" />
+  </firmware>
 
-	</firmware>
+  <modules main_freq="512">
+    <load name="sys_mon.xml" />
+  </modules>
 
-	<modules main_freq="512">
-		<load name="sys_mon.xml" />
-	</modules>
+  <commands>
+    <axis name="PITCH" failsafe_value="0" />
+    <axis name="ROLL" failsafe_value="0" />
+    <axis name="YAW" failsafe_value="0" />
+    <axis name="THRUST" failsafe_value="0" />
+  </commands>
 
-	<commands>
-		<axis name="PITCH" failsafe_value="0" />
-		<axis name="ROLL" failsafe_value="0" />
-		<axis name="YAW" failsafe_value="0" />
-		<axis name="THRUST" failsafe_value="0" />
-	</commands>
+  <servos driver="Default" />
 
-    <servos driver="Default" />
+  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
+    <define name="SP_MAX_P" value="10000" />
+    <define name="SP_MAX_Q" value="10000" />
+    <define name="SP_MAX_R" value="10000" />
+    <define name="DEADBAND_P" value="20" />
+    <define name="DEADBAND_Q" value="20" />
+    <define name="DEADBAND_R" value="200" />
+    <define name="REF_TAU" value="4" />
 
-	<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
-		<define name="SP_MAX_P" value="10000" />
-		<define name="SP_MAX_Q" value="10000" />
-		<define name="SP_MAX_R" value="10000" />
-		<define name="DEADBAND_P" value="20" />
-		<define name="DEADBAND_Q" value="20" />
-		<define name="DEADBAND_R" value="200" />
-		<define name="REF_TAU" value="4" />
+    <!-- feedback -->
+    <define name="GAIN_P" value="400" />
+    <define name="GAIN_Q" value="400" />
+    <define name="GAIN_R" value="350" />
 
-		<!-- feedback -->
-		<define name="GAIN_P" value="400" />
-		<define name="GAIN_Q" value="400" />
-		<define name="GAIN_R" value="350" />
+    <define name="IGAIN_P" value="75" />
+    <define name="IGAIN_Q" value="75" />
+    <define name="IGAIN_R" value="50" />
 
-		<define name="IGAIN_P" value="75" />
-		<define name="IGAIN_Q" value="75" />
-		<define name="IGAIN_R" value="50" />
-
-		<!-- feedforward -->
-		<define name="DDGAIN_P" value="300" />
-		<define name="DDGAIN_Q" value="300" />
-		<define name="DDGAIN_R" value="300" />
-	</section>
+    <!-- feedforward -->
+    <define name="DDGAIN_P" value="300" />
+    <define name="DDGAIN_Q" value="300" />
+    <define name="DDGAIN_R" value="300" />
+  </section>
 
 
-	<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-		<!-- setpoints -->
-		<define name="SP_MAX_PHI" value="30." unit="deg" />
-		<define name="SP_MAX_THETA" value="30." unit="deg" />
-		<define name="SP_MAX_R" value="90." unit="deg/s" />
-		<define name="DEADBAND_A" value="0" />
-		<define name="DEADBAND_E" value="0" />
-		<define name="DEADBAND_R" value="250" />
-	</section>
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI" value="30." unit="deg" />
+    <define name="SP_MAX_THETA" value="30." unit="deg" />
+    <define name="SP_MAX_R" value="90." unit="deg/s" />
+    <define name="DEADBAND_A" value="0" />
+    <define name="DEADBAND_E" value="0" />
+    <define name="DEADBAND_R" value="250" />
+  </section>
 
-	<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-		<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)" />
-		<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)" />
-		<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)" />
-		<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)" />
-		<define name="MAX_SUM_ERR" value="2000000" />
-		<define name="HOVER_KP" value="425" />
-		<define name="HOVER_KD" value="200" />
-		<define name="HOVER_KI" value="125" />
-		<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
-        <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
-	</section>
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)" />
+    <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)" />
+    <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)" />
+    <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)" />
+    <define name="MAX_SUM_ERR" value="2000000" />
+    <define name="HOVER_KP" value="425" />
+    <define name="HOVER_KD" value="200" />
+    <define name="HOVER_KI" value="125" />
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
+  </section>
 
-	<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-		<define name="MAX_BANK" value="30." unit="deg" />
-		<define name="PGAIN" value="7" />
-		<define name="DGAIN" value="2" />
-		<define name="IGAIN" value="0" />
-	</section>
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="MAX_BANK" value="30." unit="deg" />
+    <define name="PGAIN" value="7" />
+    <define name="DGAIN" value="2" />
+    <define name="IGAIN" value="0" />
+  </section>
 
-	<section name="AUTOPILOT">
-		<define name="MODE_STARTUP" value="AP_MODE_NAV" />
-		<define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT" />
-		<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD" />
-		<define name="MODE_AUTO2" value="AP_MODE_NAV" />
-	</section>
+  <section name="AUTOPILOT">
+    <define name="MODE_STARTUP" value="AP_MODE_NAV" />
+    <define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT" />
+    <define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD" />
+    <define name="MODE_AUTO2" value="AP_MODE_NAV" />
+  </section>
 
-	<section name="BAT">
-		<define name="CATASTROPHIC_BAT_LEVEL" value=".2" unit="V" />
-		<define name="CRITIC_BAT_LEVEL" value="1.9" unit="V" />
-		<define name="LOW_BAT_LEVEL" value="2.5" unit="V" />
-		<define name="MAX_BAT_LEVEL" value="10.0" unit="V" />
-	</section>
+  <section name="BAT">
+    <define name="CATASTROPHIC_BAT_LEVEL" value=".2" unit="V" />
+    <define name="CRITIC_BAT_LEVEL" value="1.9" unit="V" />
+    <define name="LOW_BAT_LEVEL" value="2.5" unit="V" />
+    <define name="MAX_BAT_LEVEL" value="10.0" unit="V" />
+  </section>
 
   <section name="IMU" prefix="IMU_">
     <define name="ACCEL_X_NEUTRAL" value="2072" />