diff --git a/sw/airborne/estimator.c b/sw/airborne/estimator.c
index ca25719e44..589f558238 100644
--- a/sw/airborne/estimator.c
+++ b/sw/airborne/estimator.c
@@ -1,10 +1,10 @@
 /*
  * Paparazzi autopilot $Id$
- *  
+ *
  * Copyright (C) 2004-2005 Pascal Brisset, Antoine Drouin
  *
  * This file is part of paparazzi.
- * 
+ *
  * paparazzi is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
  * the Free Software Foundation; either version 2, or (at your option)
@@ -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.
  *
  */
 
@@ -229,8 +229,7 @@ void estimator_update_state_gps( void ) {
   estimator_psi = atan2f(w_ve, w_vn);
   if (estimator_psi < 0.)
     estimator_psi += 2 * M_PI;
-#ifdef EXTRA_DOWNLINK_DEVICE    
+#ifdef EXTRA_DOWNLINK_DEVICE
     DOWNLINK_SEND_ATTITUDE(ExtraPprzTransport,&estimator_phi,&estimator_psi,&estimator_theta);
-#endif    
+#endif
 }
-
diff --git a/sw/airborne/gps_nmea.c b/sw/airborne/gps_nmea.c
index 8c8df2b3dd..141d97a918 100644
--- a/sw/airborne/gps_nmea.c
+++ b/sw/airborne/gps_nmea.c
@@ -1,5 +1,5 @@
 /*
- *  
+ *
  * Copyright (C) 2008 Marcus Wolschon
  *
  * This file is part of paparazzi.
@@ -17,11 +17,11 @@
  * 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.
  *
  */
 
-/** 
+/**
  * file gps_nmea.c
  * brief Parser for the NMEA protocol
  *
@@ -34,7 +34,7 @@
  */
 
 #include <inttypes.h>
-#include <string.h> 
+#include <string.h>
 #include <math.h>
 #ifdef LINUX
 // do debug-output if run on the linux-target
@@ -101,7 +101,7 @@ void ubxsend_cfg_rst(uint16_t bbr , uint8_t reset_mode) {
 #include "uart.h"
 
 void gps_configure_uart ( void ) {
-  //UbxSend_CFG_PRT(0x01, 0x0, 0x0, 0x000008D0, GPS_BAUD, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);  
+  //UbxSend_CFG_PRT(0x01, 0x0, 0x0, 0x000008D0, GPS_BAUD, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
   //while (GpsUartRunning) ; /* FIXME */
   GpsUartInitParam( UART_BAUD(GPS_BAUD),  UART_8N1, UART_FIFO_8);
 }
@@ -124,7 +124,7 @@ int  nmea_msg_len = 0;
 
 int GpsFixValid() {
    return gps_pos_available;
-} 
+}
 
 /**
  * parse GPGSA-nmea-messages stored in
@@ -199,7 +199,7 @@ void parse_nmea_GPRMC() {
            printf("parse_nmea_GPRMC() - skipping incomplete message\n");
 #endif
            return;
-	   }
+       }
      }
 
       // get warning
@@ -210,7 +210,7 @@ void parse_nmea_GPRMC() {
            printf("parse_nmea_GPRMC() - skipping incomplete message\n");
 #endif
            return;
-	   }
+       }
      }
       // get lat
       // ignored
@@ -220,7 +220,7 @@ void parse_nmea_GPRMC() {
            printf("parse_nmea_GPRMC() - skipping incomplete message\n");
 #endif
            return;
-	   }
+       }
      }
       // get North/South
       // ignored
@@ -230,7 +230,7 @@ void parse_nmea_GPRMC() {
            printf("parse_nmea_GPRMC() - skipping incomplete message\n");
 #endif
            return;
-	   }
+       }
      }
       // get lon
       // ignored
@@ -240,7 +240,7 @@ void parse_nmea_GPRMC() {
            printf("parse_nmea_GPRMC() - skipping incomplete message\n");
 #endif
            return;
-	   }
+       }
      }
       // get eath/west
       // ignored
@@ -250,7 +250,7 @@ void parse_nmea_GPRMC() {
            printf("parse_nmea_GPRMC() - skipping incomplete message\n");
 #endif
            return;
-	   }
+       }
      }
       // get speed
       double speed = strtod(&nmea_msg_buf[i], &endptr);
@@ -264,7 +264,7 @@ void parse_nmea_GPRMC() {
            printf("parse_nmea_GPRMC() - skipping incomplete message\n");
 #endif
            return;
-	   }
+       }
      }
 
 
@@ -284,7 +284,7 @@ void parse_nmea_GPGGA() {
       if(nmea_msg_buf[i]==',' && nmea_msg_buf[i+1]==',') {
 #ifdef LINUX
             printf("parse_nmea_GPGGA() - skipping empty message\n");
-#endif 
+#endif
             return;
       }
 
@@ -294,8 +294,8 @@ void parse_nmea_GPGGA() {
          if (i >= nmea_msg_len) {
 #ifdef LINUX
            printf("parse_nmea_GPGGA() - skipping incomplete message\n");
-#endif 
-	   return;
+#endif
+       return;
          }
       }
 
@@ -310,24 +310,24 @@ void parse_nmea_GPGGA() {
          if (i >= nmea_msg_len) {
 #ifdef LINUX
            printf("parse_nmea_GPGGA() - skipping incomplete message\n");
-#endif 
-	   return;
-	 }
+#endif
+       return;
+     }
       }
-     
+
       // correct latitute for N/S
       if(nmea_msg_buf[i] == 'S')
          lat = -lat;
       while(nmea_msg_buf[i++] != ',') {              // next field: longitude
          if (i >= nmea_msg_len)
-	   return;
+       return;
       }
 
       gps_lat = lat * 1e7; // convert to fixed-point
 #ifdef LINUX
       printf("parse_nmea_GPGGA() - lat=%f gps_lat=%i\n", lat, gps_lat);
-#endif 
-     
+#endif
+
       // get longitude [ddmm.mmmmm]
       double lon = strtod(&nmea_msg_buf[i], &endptr);
       // convert to pure degrees [dd.dddd] format
@@ -337,21 +337,21 @@ void parse_nmea_GPGGA() {
       //GpsInfo.PosLLA.lon.f *= (M_PI/180);
       while(nmea_msg_buf[i++] != ',') {              // next field: E/W indicator
          if (i >= nmea_msg_len)
-	   return;
+       return;
       }
- 
+
       // correct latitute for E/W
       if(nmea_msg_buf[i] == 'W')
          lon = -lon;
       while(nmea_msg_buf[i++] != ',') {              // next field: position fix status
          if (i >= nmea_msg_len)
-	   return;
+       return;
       }
- 
+
       gps_lon = lon * 1e7; // convert to fixed-point
 #ifdef LINUX
       printf("parse_nmea_GPGGA() - lon=%f gps_lon=%i\n", lon, gps_lon);
-#endif 
+#endif
 
       latlong_utm_of(RadOfDeg(lat), RadOfDeg(lon), nav_utm_zone0);
 
@@ -367,69 +367,69 @@ void parse_nmea_GPGGA() {
         gps_pos_available = TRUE;
 #ifdef LINUX
         printf("parse_nmea_GPGGA() - gps_pos_available == true\n");
-#endif 
+#endif
       } else {
         gps_pos_available = FALSE;
 #ifdef LINUX
         printf("parse_nmea_GPGGA() - gps_pos_available == false\n");
-#endif 
+#endif
       }
       while(nmea_msg_buf[i++] != ',') {              // next field: satellites used
          if (i >= nmea_msg_len) {
 #ifdef LINUX
            printf("parse_nmea_GPGGA() - skipping incomplete message\n");
-#endif 
-	   return;
-	 }
+#endif
+       return;
+     }
       }
-     
+
       // get number of satellites used in GPS solution
       gps_numSV = atoi(&nmea_msg_buf[i]);
 #ifdef LINUX
       printf("parse_nmea_GPGGA() - gps_numSatlitesUsed=%i\n", gps_numSV);
-#endif 
+#endif
       while(nmea_msg_buf[i++] != ',') {              // next field: HDOP (horizontal dilution of precision)
          if (i >= nmea_msg_len) {
 #ifdef LINUX
            printf("parse_nmea_GPGGA() - skipping incomplete message\n");
-#endif 
-	   return;
-	 }
+#endif
+       return;
+     }
       }
       while(nmea_msg_buf[i++] != ',') {              // next field: altitude
          if (i >= nmea_msg_len) {
 #ifdef LINUX
            printf("parse_nmea_GPGGA() - skipping incomplete message\n");
-#endif 
-	   return;
-	 }
+#endif
+       return;
+     }
       }
-     
+
       // get altitude (in meters)
       double alt = strtod(&nmea_msg_buf[i], &endptr);
       gps_alt = alt * 10;
 #ifdef LINUX
       printf("parse_nmea_GPGGA() - gps_alt=%i\n", gps_alt);
-#endif 
+#endif
       while(nmea_msg_buf[i++] != ',') {              // next field: altitude units, always 'M'
          if (i >= nmea_msg_len)
-	   return;
+       return;
       }
       while(nmea_msg_buf[i++] != ',') {              // next field: geoid seperation
          if (i >= nmea_msg_len)
-	   return;
+       return;
       }
       while(nmea_msg_buf[i++] != ',') {              // next field: seperation units
          if (i >= nmea_msg_len)
-	   return;
+       return;
       }
       while(nmea_msg_buf[i++] != ',') {              // next field: DGPS age
          if (i >= nmea_msg_len)
-	   return;
+       return;
       }
       while(nmea_msg_buf[i++] != ',') {              // next field: DGPS station ID
          if (i >= nmea_msg_len)
-	   return;
+       return;
       }
       //while(nmea_msg_buf[i++] != '*');              // next field: checksum
 }
@@ -445,27 +445,27 @@ void parse_gps_msg( void ) {
          nmea_msg_buf[nmea_msg_len] = 0;
 #ifdef LINUX
          printf("parse_gps_msg() - parsing RMC gps-message \"%s\"\n",nmea_msg_buf);
-#endif 
+#endif
          parse_nmea_GPRMC();
       } else
       if(nmea_msg_len > 7 && !strncmp(nmea_msg_buf + 1 , "$GPGGA", 6)) {
          nmea_msg_buf[nmea_msg_len] = 0;
 #ifdef LINUX
          printf("parse_gps_msg() - parsing GGA gps-message \"%s\"\n",nmea_msg_buf);
-#endif 
+#endif
          parse_nmea_GPGGA();
       } else
       if(nmea_msg_len > 7 && !strncmp(nmea_msg_buf + 1 , "$GPGSA", 6)) {
          nmea_msg_buf[nmea_msg_len] = 0;
 #ifdef LINUX
          printf("parse_gps_msg() - parsing GSA gps-message \"%s\"\n",nmea_msg_buf);
-#endif 
+#endif
          parse_nmea_GPGSA();
       } else {
          nmea_msg_buf[nmea_msg_len] = 0;
 #ifdef LINUX
          printf("parse_gps_msg() - ignoring unknown gps-message \"%s\" len=%i\n",nmea_msg_buf, nmea_msg_len);
-#endif 
+#endif
       }
 
       // reset message-buffer
diff --git a/sw/airborne/gps_ubx.c b/sw/airborne/gps_ubx.c
index 8e9310fc5a..0e8efc5ac9 100644
--- a/sw/airborne/gps_ubx.c
+++ b/sw/airborne/gps_ubx.c
@@ -1,6 +1,6 @@
 /*
  * Paparazzi mcu0 $Id$
- *  
+ *
  * Copyright (C) 2003  Pascal Brisset, Antoine Drouin
  *
  * 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.
  *
  */
 
@@ -27,7 +27,7 @@
  */
 
 #include <inttypes.h>
-#include <string.h> 
+#include <string.h>
 #include <math.h>
 
 #ifdef FMS_PERIODIC_FREQ
@@ -35,7 +35,7 @@
 #include <stdio.h>
 //for baudrate
 #include "fms_serial_port.h"
-#endif 
+#endif
 
 #include "flight_plan.h"
 #include "uart.h"
@@ -47,7 +47,7 @@
 #ifdef GPS_TIMESTAMP
 #include "sys_time.h"
 #define MSEC_PER_WEEK (1000*60*60*24*7)
-#endif 
+#endif
 
 #define UbxInitCheksum() { send_ck_a = send_ck_b = 0; }
 #define UpdateChecksum(c) { send_ck_a += c; send_ck_b += send_ck_a; }
@@ -69,7 +69,7 @@
 }
 
 
-/** Includes macros generated from ubx.xml */ 
+/** Includes macros generated from ubx.xml */
 #include "ubx_protocol.h"
 
 
@@ -169,8 +169,8 @@ void gps_configure_uart ( void ) {
   uint8_t loop=0;
   while (GpsUartRunning) {
     //doesn't work unless some printfs are used, so :
-    if (loop<9) { 
-      printf("."); loop++;  
+    if (loop<9) {
+      printf("."); loop++;
     } else {
       printf("\b"); loop--;
     }
@@ -195,7 +195,7 @@ void gps_configure_uart ( void ) {
 
 #ifdef USER_GPS_CONFIGURE
 #include USER_GPS_CONFIGURE
-#else 
+#else
 static bool_t user_gps_configure(bool_t cpt) {
   switch (cpt) {
   case 0:
@@ -222,14 +222,14 @@ static bool_t user_gps_configure(bool_t cpt) {
     UbxSend_CFG_SBAS(0x00, 0x00, 0x00, 0x00, 0x00);
     break;
   case 7:
-    UbxSend_CFG_RATE(0x00FA, 0x0001, 0x0000);   
+    UbxSend_CFG_RATE(0x00FA, 0x0001, 0x0000);
     return FALSE;
   }
   return TRUE; /* Continue, except for the last case */
 }
 #endif // ! USER_GPS_CONFIGURE
 
-/* GPS configuration. Must be called on ack message reception while 
+/* GPS configuration. Must be called on ack message reception while
    gps_status_config < GPS_CONFIG_DONE */
 void gps_configure ( void ) {
   if (ubx_class == UBX_ACK_ID) {
@@ -265,7 +265,7 @@ void parse_gps_msg( void ) {
       gps_hmsl = UBX_NAV_POSLLH_HMSL(ubx_msg_buf);
 
       latlong_utm_of(RadOfDeg(gps_lat/1e7), RadOfDeg(gps_lon/1e7), nav_utm_zone0);
-      
+
       gps_utm_east = latlong_utm_x * 100;
       gps_utm_north = latlong_utm_y * 100;
       gps_alt = UBX_NAV_POSLLH_HMSL(ubx_msg_buf) / 10;
@@ -276,7 +276,7 @@ void parse_gps_msg( void ) {
       gps_utm_north = UBX_NAV_POSUTM_NORTH(ubx_msg_buf);
       uint8_t hem = UBX_NAV_POSUTM_HEM(ubx_msg_buf);
       if (hem == UTM_HEM_SOUTH)
-	gps_utm_north -= 1000000000; /* Subtract false northing: -10000km */
+    gps_utm_north -= 1000000000; /* Subtract false northing: -10000km */
       gps_alt = UBX_NAV_POSUTM_ALT(ubx_msg_buf);
       gps_utm_zone = UBX_NAV_POSUTM_ZONE(ubx_msg_buf);
 #endif
@@ -286,7 +286,7 @@ void parse_gps_msg( void ) {
       gps_climb = - UBX_NAV_VELNED_VEL_D(ubx_msg_buf);
       gps_course = UBX_NAV_VELNED_Heading(ubx_msg_buf) / 10000;
       gps_itow = UBX_NAV_VELNED_ITOW(ubx_msg_buf);
-      
+
       gps_pos_available = TRUE; /* The 3 UBX messages are sent in one rafale */
     } else if (ubx_id == UBX_NAV_SOL_ID) {
 #ifdef GPS_TIMESTAMP
@@ -307,12 +307,12 @@ void parse_gps_msg( void ) {
       gps_nb_channels = Min(UBX_NAV_SVINFO_NCH(ubx_msg_buf), GPS_NB_CHANNELS);
       uint8_t i;
       for(i = 0; i < gps_nb_channels; i++) {
-	gps_svinfos[i].svid = UBX_NAV_SVINFO_SVID(ubx_msg_buf, i);
-	gps_svinfos[i].flags = UBX_NAV_SVINFO_Flags(ubx_msg_buf, i);
-	gps_svinfos[i].qi = UBX_NAV_SVINFO_QI(ubx_msg_buf, i);
-	gps_svinfos[i].cno = UBX_NAV_SVINFO_CNO(ubx_msg_buf, i);
-	gps_svinfos[i].elev = UBX_NAV_SVINFO_Elev(ubx_msg_buf, i);
-	gps_svinfos[i].azim = UBX_NAV_SVINFO_Azim(ubx_msg_buf, i);
+    gps_svinfos[i].svid = UBX_NAV_SVINFO_SVID(ubx_msg_buf, i);
+    gps_svinfos[i].flags = UBX_NAV_SVINFO_Flags(ubx_msg_buf, i);
+    gps_svinfos[i].qi = UBX_NAV_SVINFO_QI(ubx_msg_buf, i);
+    gps_svinfos[i].cno = UBX_NAV_SVINFO_CNO(ubx_msg_buf, i);
+    gps_svinfos[i].elev = UBX_NAV_SVINFO_Elev(ubx_msg_buf, i);
+    gps_svinfos[i].azim = UBX_NAV_SVINFO_Azim(ubx_msg_buf, i);
       }
     }
   }
@@ -351,7 +351,7 @@ void parse_ubx( uint8_t c ) {
   case GOT_CLASS:
     ubx_id = c;
     ubx_status++;
-    break;    
+    break;
   case GOT_ID:
     ubx_len = c;
     ubx_status++;
@@ -385,7 +385,7 @@ void parse_ubx( uint8_t c ) {
     goto error;
   }
   return;
- error:  
+ error:
  restart:
   ubx_status = UNINIT;
   return;
@@ -417,4 +417,3 @@ uint32_t itow_from_ticks(uint32_t clock_ticks)
   return itow_now;
 }
 #endif
-
diff --git a/sw/airborne/gps_ubx.h b/sw/airborne/gps_ubx.h
index 5f8ce21afe..e75ebfda9f 100644
--- a/sw/airborne/gps_ubx.h
+++ b/sw/airborne/gps_ubx.h
@@ -1,6 +1,6 @@
 /*
  * Paparazzi autopilot $Id$
- *  
+ *
  * Copyright (C) 2004-2006  Pascal Brisset, Antoine Drouin
  *
  * 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.
  *
  */
 
diff --git a/sw/airborne/gps_xsens.c b/sw/airborne/gps_xsens.c
index 9d7ce28301..b08f114268 100644
--- a/sw/airborne/gps_xsens.c
+++ b/sw/airborne/gps_xsens.c
@@ -1,10 +1,10 @@
 /*
  * $Id$
- *  
+ *
  * Copyright (C) 2005  Pascal Brisset, Antoine Drouin
  *
  * This file is part of paparazzi.
- * 
+ *
  * paparazzi is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
  * the Free Software Foundation; either version 2, or (at your option)
@@ -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.
  *
  */
 
@@ -72,4 +72,3 @@ void gps_init( void ) {}
 void gps_configure( void ) {}
 void parse_gps_msg( void ) {}
 void gps_configure_uart( void ) {}
-
diff --git a/sw/airborne/gps_xsens.h b/sw/airborne/gps_xsens.h
index 95878f56d4..2395793e5a 100644
--- a/sw/airborne/gps_xsens.h
+++ b/sw/airborne/gps_xsens.h
@@ -1,6 +1,6 @@
 /*
  * Paparazzi autopilot $Id: gps_ubx.h 4659 2010-03-10 16:55:04Z mmm $
- *  
+ *
  * Copyright (C) 2004-2006  Pascal Brisset, Antoine Drouin
  *
  * 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.
  *
  */