diff --git a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_fw.xml b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_fw.xml
index f14704c0465..d7be19df12b 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_fw.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_fw.xml
@@ -32,24 +32,24 @@
         <servo name="AILEVON_LEFT"  no="1" min="1900" neutral="1534" max="1100"/>
         <servo name="AILEVON_RIGHT" no="2" min="1100" neutral="1468" max="1900"/>
     </servos>
-	
+
     <commands>
         <axis name="THROTTLE" failsafe_value="0"/>
         <axis name="ROLL"     failsafe_value="0"/>
         <axis name="PITCH"    failsafe_value="0"/>
     </commands>
-	
+
     <rc_commands>
         <set command="THROTTLE" value="@THROTTLE"/>
         <set command="ROLL"     value="@ROLL"/>
         <set command="PITCH"    value="@PITCH"/>
     </rc_commands>
-	
+
     <section name="MIXER">
         <define name="AILEVON_AILERON_RATE" value="0.45"/>
         <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
     </section>
-	
+
     <command_laws>
         <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
         <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
@@ -57,18 +57,18 @@
         <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
         <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
     </command_laws>
-	
+
     <section name="AUTO1" prefix="AUTO1_">
         <define name="MAX_ROLL" value="50" unit="deg"/>
         <define name="MAX_PITCH" value="35" unit="deg"/>
     </section>
-	
+
     <section name="BAT">
         <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
         <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
         <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
     </section>
-	
+
     <section name="FAILSAFE" prefix="FAILSAFE_">
         <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
         <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
@@ -76,7 +76,7 @@
         <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
         <define name="HOME_RADIUS" value="100" unit="m"/>
     </section>
-	
+
     <section name="MISC">
         <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
         <define name="CARROT" value="5." unit="s"/>
@@ -86,78 +86,78 @@
         <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
         <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
     </section>
-	
+
     <!-- Local magnetic field -->
     <section name="AHRS" prefix="AHRS_" >
         <define name="H_X" value="0.51562740288882" />
         <define name="H_Y" value="-0.05707735220832" />
         <define name="H_Z" value="0.85490967783446" />
     </section>
-	
+
     <section name="IMU" prefix="IMU_">
         <!-- Calibration Neutral -->
         <define name="GYRO_P_NEUTRAL" value="0"/>
         <define name="GYRO_Q_NEUTRAL" value="0"/>
         <define name="GYRO_R_NEUTRAL" value="0"/>
-		
+
         <!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
         <define name="GYRO_P_SENS" value="4.947" integer="16"/>
         <define name="GYRO_Q_SENS" value="4.947" integer="16"/>
         <define name="GYRO_R_SENS" value="4.947" integer="16"/>
-		
+
         <define name="GYRO_P_Q" value="0."/>
         <define name="GYRO_P_R" value="0"/>
         <define name="GYRO_Q_P" value="0."/>
         <define name="GYRO_Q_R" value="0."/>
         <define name="GYRO_R_P" value="0."/>
         <define name="GYRO_R_Q" value="0."/>
-		
+
         <define name="GYRO_P_SIGN" value="1"/>
         <define name="GYRO_Q_SIGN" value="1"/>
         <define name="GYRO_R_SIGN" value="1"/>
-		
+
         <define name="ACCEL_X_NEUTRAL" value="-14"/>
         <define name="ACCEL_Y_NEUTRAL" value="0"/>
         <define name="ACCEL_Z_NEUTRAL" value="0"/>
-		
+
         <!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y -->
         <define name="ACCEL_X_SENS" value="37.9" integer="16"/>
         <define name="ACCEL_Y_SENS" value="37.9" integer="16"/>
         <define name="ACCEL_Z_SENS" value="39.24" integer="16"/>
-		
+
         <define name="ACCEL_X_SIGN" value="1"/>
         <define name="ACCEL_Y_SIGN" value="1"/>
         <define name="ACCEL_Z_SIGN" value="1"/>
-		
+
         <define name="MAG_X_NEUTRAL" value="0"/>
         <define name="MAG_Y_NEUTRAL" value="0"/>
         <define name="MAG_Z_NEUTRAL" value="0"/>
-		
+
         <define name="MAG_X_SENS" value="1" integer="16"/>
         <define name="MAG_Y_SENS" value="1" integer="16"/>
         <define name="MAG_Z_SENS" value="1" integer="16"/>
-		
+
         <define name="MAG_X_SIGN" value="1"/>
         <define name="MAG_Y_SIGN" value="1"/>
         <define name="MAG_Z_SIGN" value="1"/>
-		
+
         <define name="BODY_TO_IMU_PHI" value="90.0" unit="deg"/>
         <define name="BODY_TO_IMU_THETA" value="0"/>
         <define name="BODY_TO_IMU_PSI" value="0"/>
     </section>
-	
+
     <section name="INS" prefix="INS_">
         <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
         <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
     </section>
-	
+
     <section name="VERTICAL CONTROL" prefix="V_CTL_">
         <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
         <!-- outer loop proportional gain -->
         <define name="ALTITUDE_PGAIN" value="-0.03"/>
         <!-- outer loop saturation -->
         <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-		
+
         <!-- auto throttle inner loop -->
         <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
         <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
@@ -168,28 +168,28 @@
         <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
         <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
         <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-		
+
         <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
     </section>
-	
+
     <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
         <define name="COURSE_PGAIN" value="1.20000004768"/>
         <define name="COURSE_DGAIN" value="0.3"/>
         <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
-		
+
         <define name="ROLL_MAX_SETPOINT" value="0.75" unit="rad"/>
         <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
         <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-		
+
         <define name="PITCH_PGAIN" value="12000."/>
         <define name="PITCH_DGAIN" value="1.5"/>
-		
+
         <define name="ELEVATOR_OF_ROLL" value="1000."/>
-		
+
         <define name="ROLL_SLEW" value="1."/>
-		
+
         <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
         <define name="ROLL_RATE_GAIN" value="0."/>
     </section>
-	
+
 </airframe>
diff --git a/conf/airframes/esden/calib/asp21-001.xml b/conf/airframes/esden/calib/asp21-001.xml
index fbbb7623404..736569999b7 100644
--- a/conf/airframes/esden/calib/asp21-001.xml
+++ b/conf/airframes/esden/calib/asp21-001.xml
@@ -13,7 +13,7 @@
     <define name="GYRO_P_SENS" value="4.359" integer="16"/>
     <define name="GYRO_Q_SENS" value="4.359" integer="16"/>
     <define name="GYRO_R_SENS" value="4.359" integer="16"/>
-    
+
     <define name="ACCEL_X_NEUTRAL" value="73"/>
     <define name="ACCEL_Y_NEUTRAL" value="21"/>
     <define name="ACCEL_Z_NEUTRAL" value="105"/>
diff --git a/conf/airframes/esden/hexy_ll11a2pwm.xml b/conf/airframes/esden/hexy_ll11a2pwm.xml
index bd2eab6026a..69ba7a1173a 100644
--- a/conf/airframes/esden/hexy_ll11a2pwm.xml
+++ b/conf/airframes/esden/hexy_ll11a2pwm.xml
@@ -142,7 +142,7 @@
     <define name="PHI_DDGAIN"   value=" 530"/>
     <define name="THETA_DDGAIN" value=" 530"/>
     <define name="PSI_DDGAIN"   value=" 300"/>
-    
+
     <!-- simonk esc firmware gains light quad? -->
     <!-- feedback -->
     <!--define name="PHI_PGAIN"  value="1300"/>
diff --git a/conf/airframes/esden/quady_ll11a2pwm.xml b/conf/airframes/esden/quady_ll11a2pwm.xml
index e26b3bf3d28..2fe252327e8 100644
--- a/conf/airframes/esden/quady_ll11a2pwm.xml
+++ b/conf/airframes/esden/quady_ll11a2pwm.xml
@@ -138,7 +138,7 @@
     <define name="PHI_DDGAIN"   value=" 530"/>
     <define name="THETA_DDGAIN" value=" 530"/>
     <define name="PSI_DDGAIN"   value=" 300"/>
-    
+
     <!-- simonk esc firmware gains light quad? -->
     <!-- feedback -->
     <!--define name="PHI_PGAIN"  value="1300"/>
diff --git a/conf/airframes/examples/umarim_lite_v2.xml b/conf/airframes/examples/umarim_lite_v2.xml
index 90debb6a461..d4e48ce6134 100644
--- a/conf/airframes/examples/umarim_lite_v2.xml
+++ b/conf/airframes/examples/umarim_lite_v2.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
-<!-- 
+<!--
      Example airframe
      Umarim Lite
 -->
diff --git a/sw/airborne/lisa/test_led.c b/sw/airborne/lisa/test_led.c
index 0c755c154dc..89a89a975f3 100644
--- a/sw/airborne/lisa/test_led.c
+++ b/sw/airborne/lisa/test_led.c
@@ -100,7 +100,7 @@ int main(void) {
   return 0;
 }
 
-/* 
+/*
  * XXX: do we really need volatile here?
  *
  * Also we should probably use systime instead as it is being linked into this
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
index 480c6490a41..6f9ba8ace5e 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
@@ -562,7 +562,7 @@ static inline void set_body_orientation_and_rates(void) {
   ltp_to_body_euler.theta -= ins_pitch_neutral;
   stateSetNedToBodyEulers_f(&ltp_to_body_euler);
 
-  // should be replaced at the end by: 
+  // should be replaced at the end by:
   //   stateSetNedToBodyRMat_f(&ltp_to_body_rmat);
 
 }
diff --git a/sw/airborne/subsystems/imu/imu_aspirin2.c b/sw/airborne/subsystems/imu/imu_aspirin2.c
index 41c84397e1a..597ae13005a 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin2.c
+++ b/sw/airborne/subsystems/imu/imu_aspirin2.c
@@ -189,7 +189,7 @@ static void mpu_configure(void)
            (0 << 4) | 		// restart or stop/start from one slave to another: read -> write is always stop/start
            (8 << 0) );		// 0=348kHz 8=256kHz, 9=500kHz
 
-  mpu_set( MPU60X0_REG_I2C_MST_DELAY, 
+  mpu_set( MPU60X0_REG_I2C_MST_DELAY,
            (0 << 2) |		// No Delay Slave 2
            (1 << 3) );		// Delay Slave 3