diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c
index 875582cf5..acf2392ff 100644
--- a/flight/Modules/System/systemmod.c
+++ b/flight/Modules/System/systemmod.c
@@ -64,8 +64,8 @@
 
 #ifndef IDLE_COUNTS_PER_SEC_AT_NO_LOAD
 #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998	// calibrated by running tests/test_cpuload.c
-											  // must be updated if the FreeRTOS or compiler
-											  // optimisation options are changed.
+// must be updated if the FreeRTOS or compiler
+// optimisation options are changed.
 #endif
 
 #if defined(PIOS_SYSTEM_STACK_SIZE)
@@ -102,15 +102,15 @@ static void updateWDGstats();
  */
 int32_t SystemModStart(void)
 {
-	// Initialize vars
-	stackOverflow = false;
-	mallocFailed = false;
-	// Create system task
-	xTaskCreate(systemTask, (signed char *)"System", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle);
-	// Register task
-	TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
+    // Initialize vars
+    stackOverflow = false;
+    mallocFailed = false;
+    // Create system task
+    xTaskCreate(systemTask, (signed char *) "System", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &systemTaskHandle);
+    // Register task
+    TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
 
-	return 0;
+    return 0;
 }
 
 /**
@@ -120,26 +120,26 @@ int32_t SystemModStart(void)
 int32_t SystemModInitialize(void)
 {
 
-	// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
-	SystemSettingsInitialize();
-	SystemStatsInitialize();
-	FlightStatusInitialize();
-	ObjectPersistenceInitialize();
+    // Must registers objects here for system thread because ObjectManager started in OpenPilotInit
+    SystemSettingsInitialize();
+    SystemStatsInitialize();
+    FlightStatusInitialize();
+    ObjectPersistenceInitialize();
 #ifdef DIAG_TASKS
-	TaskInfoInitialize();
+    TaskInfoInitialize();
 #endif
 #ifdef DIAG_I2C_WDG_STATS
-	I2CStatsInitialize();
-	WatchdogStatusInitialize();
+    I2CStatsInitialize();
+    WatchdogStatusInitialize();
 #endif
 
-	objectPersistenceQueue = xQueueCreate(1, sizeof(UAVObjEvent));
-	if (objectPersistenceQueue == NULL)
-		return -1;
+    objectPersistenceQueue = xQueueCreate(1, sizeof(UAVObjEvent));
+    if (objectPersistenceQueue == NULL)
+        return -1;
 
-	SystemModStart();
+    SystemModStart();
 
-	return 0;
+    return 0;
 }
 
 MODULE_INITCALL(SystemModInitialize, 0)
@@ -148,77 +148,77 @@ MODULE_INITCALL(SystemModInitialize, 0)
  */
 static void systemTask(void *parameters)
 {
-	/* create all modules thread */
-	MODULE_TASKCREATE_ALL;
+    /* create all modules thread */
+    MODULE_TASKCREATE_ALL;
 
-	if (mallocFailed) {
-		/* We failed to malloc during task creation,
-		 * system behaviour is undefined.  Reset and let
-		 * the BootFault code recover for us.
-		 */
-		PIOS_SYS_Reset();
-	}
+    if (mallocFailed) {
+        /* We failed to malloc during task creation,
+         * system behaviour is undefined.  Reset and let
+         * the BootFault code recover for us.
+         */
+        PIOS_SYS_Reset();
+    }
 
 #if defined(PIOS_INCLUDE_IAP)
-	/* Record a successful boot */
-	PIOS_IAP_WriteBootCount(0);
+    /* Record a successful boot */
+    PIOS_IAP_WriteBootCount(0);
 #endif
 
-	// Initialize vars
-	idleCounter = 0;
-	idleCounterClear = 0;
+    // Initialize vars
+    idleCounter = 0;
+    idleCounterClear = 0;
 
-	// Listen for SettingPersistance object updates, connect a callback function
-	ObjectPersistenceConnectQueue(objectPersistenceQueue);
+    // Listen for SettingPersistance object updates, connect a callback function
+    ObjectPersistenceConnectQueue(objectPersistenceQueue);
 
-	// Whenever the configuration changes, make sure it is safe to fly
-	HwSettingsConnectCallback(hwSettingsUpdatedCb);
+    // Whenever the configuration changes, make sure it is safe to fly
+    HwSettingsConnectCallback(hwSettingsUpdatedCb);
 
-	// Main system loop
-	while (1) {
-		// Update the system statistics
-		updateStats();
+    // Main system loop
+    while (1) {
+        // Update the system statistics
+        updateStats();
 
-		// Update the system alarms
-		updateSystemAlarms();
+        // Update the system alarms
+        updateSystemAlarms();
 #ifdef DIAG_I2C_WDG_STATS
-		updateI2Cstats();
-		updateWDGstats();
+        updateI2Cstats();
+        updateWDGstats();
 #endif
 
 #ifdef DIAG_TASKS
-		// Update the task status object
-		TaskMonitorUpdateAll();
+        // Update the task status object
+        TaskMonitorUpdateAll();
 #endif
 
-		// Flash the heartbeat LED
+        // Flash the heartbeat LED
 #if defined(PIOS_LED_HEARTBEAT)
-		PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
-		DEBUG_MSG("+ 0x%08x\r\n", 0xDEADBEEF);
+        PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
+        DEBUG_MSG("+ 0x%08x\r\n", 0xDEADBEEF);
 #endif	/* PIOS_LED_HEARTBEAT */
 
-		// Turn on the error LED if an alarm is set
+        // Turn on the error LED if an alarm is set
 #if defined (PIOS_LED_ALARM)
-		if (AlarmsHasWarnings()) {
-			PIOS_LED_On(PIOS_LED_ALARM);
-		} else {
-			PIOS_LED_Off(PIOS_LED_ALARM);
-		}
+        if (AlarmsHasWarnings()) {
+            PIOS_LED_On(PIOS_LED_ALARM);
+        } else {
+            PIOS_LED_Off(PIOS_LED_ALARM);
+        }
 #endif	/* PIOS_LED_ALARM */
 
-		FlightStatusData flightStatus;
-		FlightStatusGet(&flightStatus);
+        FlightStatusData flightStatus;
+        FlightStatusGet(&flightStatus);
 
-		UAVObjEvent ev;
-		int delayTime = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED ?
-			SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ * 2) :
-			SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS;
+        UAVObjEvent ev;
+        int delayTime = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED ?
+        SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ * 2) :
+        SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS;
 
-		if(xQueueReceive(objectPersistenceQueue, &ev, delayTime) == pdTRUE) {
-			// If object persistence is updated call the callback
-			objectUpdatedCb(&ev);
-		}
-	}
+        if(xQueueReceive(objectPersistenceQueue, &ev, delayTime) == pdTRUE) {
+            // If object persistence is updated call the callback
+            objectUpdatedCb(&ev);
+        }
+    }
 }
 
 /**
@@ -226,101 +226,94 @@ static void systemTask(void *parameters)
  */
 static void objectUpdatedCb(UAVObjEvent * ev)
 {
-	ObjectPersistenceData objper;
-	UAVObjHandle obj;
+    ObjectPersistenceData objper;
+    UAVObjHandle obj;
 
-	// If the object updated was the ObjectPersistence execute requested action
-	if (ev->obj == ObjectPersistenceHandle()) {
-		// Get object data
-		ObjectPersistenceGet(&objper);
+    // If the object updated was the ObjectPersistence execute requested action
+    if (ev->obj == ObjectPersistenceHandle()) {
+        // Get object data
+        ObjectPersistenceGet(&objper);
 
-		int retval = 1;
-		FlightStatusData flightStatus;
-		FlightStatusGet(&flightStatus);
+        int retval = 1;
+        FlightStatusData flightStatus;
+        FlightStatusGet(&flightStatus);
 
-		// When this is called because of this method don't do anything
-		if (objper.Operation == OBJECTPERSISTENCE_OPERATION_ERROR ||
-			objper.Operation == OBJECTPERSISTENCE_OPERATION_COMPLETED) {
-			return;
-		}
+        // When this is called because of this method don't do anything
+        if (objper.Operation == OBJECTPERSISTENCE_OPERATION_ERROR || objper.Operation == OBJECTPERSISTENCE_OPERATION_COMPLETED) {
+            return;
+        }
 
-		// Execute action if disarmed
-		if(flightStatus.Armed != FLIGHTSTATUS_ARMED_DISARMED) {
-			retval = -1;
-		} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_LOAD) {
-			if (objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT) {
-				// Get selected object
-				obj = UAVObjGetByID(objper.ObjectID);
-				if (obj == 0) {
-					return;
-				}
-				// Load selected instance
-				retval = UAVObjLoad(obj, objper.InstanceID);
-			} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS
-				   || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
-				retval = UAVObjLoadSettings();
-			} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS
-				   || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
-				retval = UAVObjLoadMetaobjects();
-			}
-		} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_SAVE) {
-			if (objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT) {
-				// Get selected object
-				obj = UAVObjGetByID(objper.ObjectID);
-				if (obj == 0) {
-					return;
-				}
-				// Save selected instance
-				retval = UAVObjSave(obj, objper.InstanceID);
+        // Execute action if disarmed
+        if (flightStatus.Armed != FLIGHTSTATUS_ARMED_DISARMED) {
+            retval = -1;
+        } else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_LOAD) {
+            if (objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT) {
+                // Get selected object
+                obj = UAVObjGetByID(objper.ObjectID);
+                if (obj == 0) {
+                    return;
+                }
+                // Load selected instance
+                retval = UAVObjLoad(obj, objper.InstanceID);
+            } else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
+                retval = UAVObjLoadSettings();
+            } else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
+                retval = UAVObjLoadMetaobjects();
+            }
+        } else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_SAVE) {
+            if (objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT) {
+                // Get selected object
+                obj = UAVObjGetByID(objper.ObjectID);
+                if (obj == 0) {
+                    return;
+                }
+                // Save selected instance
+                retval = UAVObjSave(obj, objper.InstanceID);
 
-				// Not sure why this is needed
-				vTaskDelay(10);
+                // Not sure why this is needed
+                vTaskDelay(10);
 
-				// Verify saving worked
-				if (retval == 0)
-					retval = UAVObjLoad(obj, objper.InstanceID);
-			} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS
-				   || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
-				retval = UAVObjSaveSettings();
-			} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS
-				   || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
-				retval = UAVObjSaveMetaobjects();
-			}
-		} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_DELETE) {
-			if (objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT) {
-				// Get selected object
-				obj = UAVObjGetByID(objper.ObjectID);
-				if (obj == 0) {
-					return;
-				}
-				// Delete selected instance
-				retval = UAVObjDelete(obj, objper.InstanceID);
-			} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS
-				   || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
-				retval = UAVObjDeleteSettings();
-			} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS
-				   || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
-				retval = UAVObjDeleteMetaobjects();
-			}
-		} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_FULLERASE) {
-			retval = -1;
+                // Verify saving worked
+                if (retval == 0)
+                    retval = UAVObjLoad(obj, objper.InstanceID);
+            } else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
+                retval = UAVObjSaveSettings();
+            } else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
+                retval = UAVObjSaveMetaobjects();
+            }
+        } else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_DELETE) {
+            if (objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT) {
+                // Get selected object
+                obj = UAVObjGetByID(objper.ObjectID);
+                if (obj == 0) {
+                    return;
+                }
+                // Delete selected instance
+                retval = UAVObjDelete(obj, objper.InstanceID);
+            } else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
+                retval = UAVObjDeleteSettings();
+            } else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
+                retval = UAVObjDeleteMetaobjects();
+            }
+        } else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_FULLERASE) {
+            retval = -1;
 #if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
-			retval = PIOS_FLASHFS_Format(0);
+            retval = PIOS_FLASHFS_Format(0);
 #endif
-		}
-		switch(retval) {
-			case 0:
-				objper.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
-				ObjectPersistenceSet(&objper);
-				break;
-			case -1:
-				objper.Operation = OBJECTPERSISTENCE_OPERATION_ERROR;
-				ObjectPersistenceSet(&objper);
-				break;
-			default:
-				break;
-		}
-	}
+        }
+        switch (retval) {
+            case 0:
+                objper.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
+                ObjectPersistenceSet(&objper);
+                break;
+            case -1:
+                objper.Operation = OBJECTPERSISTENCE_OPERATION_ERROR;
+                ObjectPersistenceSet(&objper);
+                break;
+            default:
+                break;
+        }
+    }
 }
 
 /**
@@ -328,83 +321,82 @@ static void objectUpdatedCb(UAVObjEvent * ev)
  */
 static void hwSettingsUpdatedCb(UAVObjEvent * ev)
 {
-	AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT,SYSTEMALARMS_ALARM_ERROR);
+    AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_ERROR);
 }
 
 /**
  * Called periodically to update the I2C statistics 
  */
 #ifdef DIAG_I2C_WDG_STATS
-static void updateI2Cstats() 
+static void updateI2Cstats()
 {
 #if defined(PIOS_INCLUDE_I2C)
-	I2CStatsData i2cStats;
-	I2CStatsGet(&i2cStats);
-	
-	struct pios_i2c_fault_history history;
-	PIOS_I2C_GetDiagnostics(&history, &i2cStats.event_errors);
-	
-	for(uint8_t i = 0; (i < I2C_LOG_DEPTH) && (i < I2CSTATS_EVENT_LOG_NUMELEM); i++) {
-		i2cStats.evirq_log[i] = history.evirq[i];
-		i2cStats.erirq_log[i] = history.erirq[i];
-		i2cStats.event_log[i] = history.event[i];
-		i2cStats.state_log[i] = history.state[i];		
-	}
-	i2cStats.last_error_type = history.type;
-	I2CStatsSet(&i2cStats);
+    I2CStatsData i2cStats;
+    I2CStatsGet(&i2cStats);
+
+    struct pios_i2c_fault_history history;
+    PIOS_I2C_GetDiagnostics(&history, &i2cStats.event_errors);
+
+    for(uint8_t i = 0; (i < I2C_LOG_DEPTH) && (i < I2CSTATS_EVENT_LOG_NUMELEM); i++) {
+        i2cStats.evirq_log[i] = history.evirq[i];
+        i2cStats.erirq_log[i] = history.erirq[i];
+        i2cStats.event_log[i] = history.event[i];
+        i2cStats.state_log[i] = history.state[i];
+    }
+    i2cStats.last_error_type = history.type;
+    I2CStatsSet(&i2cStats);
 #endif
 }
 
-static void updateWDGstats() 
+static void updateWDGstats()
 {
-	WatchdogStatusData watchdogStatus;
-	watchdogStatus.BootupFlags = PIOS_WDG_GetBootupFlags();
-	watchdogStatus.ActiveFlags = PIOS_WDG_GetActiveFlags();
-	WatchdogStatusSet(&watchdogStatus);
+    WatchdogStatusData watchdogStatus;
+    watchdogStatus.BootupFlags = PIOS_WDG_GetBootupFlags();
+    watchdogStatus.ActiveFlags = PIOS_WDG_GetActiveFlags();
+    WatchdogStatusSet(&watchdogStatus);
 }
 #endif
 
-
 /**
  * Called periodically to update the system stats
  */
 static uint16_t GetFreeIrqStackSize(void)
 {
-	uint32_t i = 0x200;
+    uint32_t i = 0x200;
 
 #if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
-extern uint32_t _irq_stack_top;
-extern uint32_t _irq_stack_end;
-uint32_t pattern = 0x0000A5A5;
-uint32_t *ptr = &_irq_stack_end;
+    extern uint32_t _irq_stack_top;
+    extern uint32_t _irq_stack_end;
+    uint32_t pattern = 0x0000A5A5;
+    uint32_t *ptr = &_irq_stack_end;
 
 #if 1 /* the ugly way accurate but takes more time, useful for debugging */
-	uint32_t stack_size = (((uint32_t)&_irq_stack_top - (uint32_t)&_irq_stack_end) & ~3 ) / 4;
+    uint32_t stack_size = (((uint32_t)&_irq_stack_top - (uint32_t)&_irq_stack_end) & ~3 ) / 4;
 
-	for (i=0; i< stack_size; i++)
-	{
-		if (ptr[i] != pattern)
-		{
-			i=i*4;
-			break;
-		}
-	}
+    for (i=0; i< stack_size; i++)
+    {
+        if (ptr[i] != pattern)
+        {
+            i=i*4;
+            break;
+        }
+    }
 #else /* faster way but not accurate */
-	if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_CRITICAL) != pattern)
-	{
-		i = IRQSTACK_LIMIT_CRITICAL - 1;
-	}
-	else if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_WARNING) != pattern)
-	{
-		i = IRQSTACK_LIMIT_WARNING - 1;
-	}
-	else
-	{
-		i = IRQSTACK_LIMIT_WARNING;
-	}
+    if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_CRITICAL) != pattern)
+    {
+        i = IRQSTACK_LIMIT_CRITICAL - 1;
+    }
+    else if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_WARNING) != pattern)
+    {
+        i = IRQSTACK_LIMIT_WARNING - 1;
+    }
+    else
+    {
+        i = IRQSTACK_LIMIT_WARNING;
+    }
 #endif
 #endif
-	return i;
+    return i;
 }
 
 /**
@@ -412,50 +404,49 @@ uint32_t *ptr = &_irq_stack_end;
  */
 static void updateStats()
 {
-	static portTickType lastTickCount = 0;
-	SystemStatsData stats;
+    static portTickType lastTickCount = 0;
+    SystemStatsData stats;
 
-	// Get stats and update
-	SystemStatsGet(&stats);
-	stats.FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
+    // Get stats and update
+    SystemStatsGet(&stats);
+    stats.FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
 #if defined(ARCH_POSIX) || defined(ARCH_WIN32)
-	// POSIX port of FreeRTOS doesn't have xPortGetFreeHeapSize()
-	stats.HeapRemaining = 10240;
+    // POSIX port of FreeRTOS doesn't have xPortGetFreeHeapSize()
+    stats.HeapRemaining = 10240;
 #else
-	stats.HeapRemaining = xPortGetFreeHeapSize();
+    stats.HeapRemaining = xPortGetFreeHeapSize();
 #endif
 
-	// Get Irq stack status
-	stats.IRQStackRemaining = GetFreeIrqStackSize();
+    // Get Irq stack status
+    stats.IRQStackRemaining = GetFreeIrqStackSize();
 
-	// When idleCounterClear was not reset by the idle-task, it means the idle-task did not run
-	if (idleCounterClear) {
-		idleCounter = 0;
-	}
+    // When idleCounterClear was not reset by the idle-task, it means the idle-task did not run
+    if (idleCounterClear) {
+        idleCounter = 0;
+    }
 
-	portTickType now = xTaskGetTickCount();
-	if (now > lastTickCount) {
-		uint32_t dT = (xTaskGetTickCount() - lastTickCount) * portTICK_RATE_MS;	// in ms
-		stats.CPULoad =
-			100 - (uint8_t) roundf(100.0f * ((float)idleCounter / ((float)dT / 1000.0f)) / (float)IDLE_COUNTS_PER_SEC_AT_NO_LOAD);
-	} //else: TickCount has wrapped, do not calc now
-	lastTickCount = now;
-	idleCounterClear = 1;
+    portTickType now = xTaskGetTickCount();
+    if (now > lastTickCount) {
+        uint32_t dT = (xTaskGetTickCount() - lastTickCount) * portTICK_RATE_MS;	// in ms
+        stats.CPULoad = 100 - (uint8_t) roundf(100.0f * ((float) idleCounter / ((float) dT / 1000.0f)) / (float) IDLE_COUNTS_PER_SEC_AT_NO_LOAD);
+    } //else: TickCount has wrapped, do not calc now
+    lastTickCount = now;
+    idleCounterClear = 1;
 
 #if defined(PIOS_INCLUDE_ADC) && defined(PIOS_ADC_USE_TEMP_SENSOR)
 #if defined(STM32F4XX)
-	float temp_voltage = 3.3 * PIOS_ADC_PinGet(3) / ((1 << 12) - 1);
-	const float STM32_TEMP_V25 = 0.76; /* V */
-	const float STM32_TEMP_AVG_SLOPE = 2.5; /* mV/C */
-	stats.CPUTemp = (temp_voltage-STM32_TEMP_V25) * 1000 / STM32_TEMP_AVG_SLOPE + 25;
+    float temp_voltage = 3.3f * PIOS_ADC_PinGet(3) / ((1 << 12) - 1);
+    const float STM32_TEMP_V25 = 0.76f; /* V */
+    const float STM32_TEMP_AVG_SLOPE = 2.5f; /* mV/C */
+    stats.CPUTemp = (temp_voltage-STM32_TEMP_V25) * 1000 / STM32_TEMP_AVG_SLOPE + 25;
 #else
-	float temp_voltage = 3.3 * PIOS_ADC_PinGet(0) / ((1 << 12) - 1);
-	const float STM32_TEMP_V25 = 1.43; /* V */
-	const float STM32_TEMP_AVG_SLOPE = 4.3; /* mV/C */
-	stats.CPUTemp = (temp_voltage-STM32_TEMP_V25) * 1000 / STM32_TEMP_AVG_SLOPE + 25;
+    float temp_voltage = 3.3f * PIOS_ADC_PinGet(0) / ((1 << 12) - 1);
+    const float STM32_TEMP_V25 = 1.43f; /* V */
+    const float STM32_TEMP_AVG_SLOPE = 4.3f; /* mV/C */
+    stats.CPUTemp = (temp_voltage-STM32_TEMP_V25) * 1000 / STM32_TEMP_AVG_SLOPE + 25;
 #endif
 #endif
-	SystemStatsSet(&stats);
+    SystemStatsSet(&stats);
 }
 
 /**
@@ -463,66 +454,64 @@ static void updateStats()
  */
 static void updateSystemAlarms()
 {
-	SystemStatsData stats;
-	UAVObjStats objStats;
-	EventStats evStats;
-	SystemStatsGet(&stats);
+    SystemStatsData stats;
+    UAVObjStats objStats;
+    EventStats evStats;
+    SystemStatsGet(&stats);
 
-	// Check heap, IRQ stack and malloc failures
-	if ( mallocFailed
-	     || (stats.HeapRemaining < HEAP_LIMIT_CRITICAL)
+    // Check heap, IRQ stack and malloc failures
+    if (mallocFailed || (stats.HeapRemaining < HEAP_LIMIT_CRITICAL)
 #if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
-	     || (stats.IRQStackRemaining < IRQSTACK_LIMIT_CRITICAL)
+            || (stats.IRQStackRemaining < IRQSTACK_LIMIT_CRITICAL)
 #endif
-	    ) {
-		AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
-	} else if (
-		(stats.HeapRemaining < HEAP_LIMIT_WARNING)
+            ) {
+        AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
+    } else if ((stats.HeapRemaining < HEAP_LIMIT_WARNING)
 #if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
-	     || (stats.IRQStackRemaining < IRQSTACK_LIMIT_WARNING)
+    || (stats.IRQStackRemaining < IRQSTACK_LIMIT_WARNING)
 #endif
-	    ) {
-		AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_WARNING);
-	} else {
-		AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
-	}
+    ) {
+        AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_WARNING);
+    } else {
+        AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
+    }
 
-	// Check CPU load
-	if (stats.CPULoad > CPULOAD_LIMIT_CRITICAL) {
-		AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_CRITICAL);
-	} else if (stats.CPULoad > CPULOAD_LIMIT_WARNING) {
-		AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_WARNING);
-	} else {
-		AlarmsClear(SYSTEMALARMS_ALARM_CPUOVERLOAD);
-	}
+    // Check CPU load
+    if (stats.CPULoad > CPULOAD_LIMIT_CRITICAL) {
+        AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_CRITICAL);
+    } else if (stats.CPULoad > CPULOAD_LIMIT_WARNING) {
+        AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_WARNING);
+    } else {
+        AlarmsClear(SYSTEMALARMS_ALARM_CPUOVERLOAD);
+    }
 
-	// Check for stack overflow
-	if (stackOverflow) {
-		AlarmsSet(SYSTEMALARMS_ALARM_STACKOVERFLOW, SYSTEMALARMS_ALARM_CRITICAL);
-	} else {
-		AlarmsClear(SYSTEMALARMS_ALARM_STACKOVERFLOW);
-	}
+    // Check for stack overflow
+    if (stackOverflow) {
+        AlarmsSet(SYSTEMALARMS_ALARM_STACKOVERFLOW, SYSTEMALARMS_ALARM_CRITICAL);
+    } else {
+        AlarmsClear(SYSTEMALARMS_ALARM_STACKOVERFLOW);
+    }
+
+    // Check for event errors
+    UAVObjGetStats(&objStats);
+    EventGetStats(&evStats);
+    UAVObjClearStats();
+    EventClearStats();
+    if (objStats.eventCallbackErrors > 0 || objStats.eventQueueErrors > 0 || evStats.eventErrors > 0) {
+        AlarmsSet(SYSTEMALARMS_ALARM_EVENTSYSTEM, SYSTEMALARMS_ALARM_WARNING);
+    } else {
+        AlarmsClear(SYSTEMALARMS_ALARM_EVENTSYSTEM);
+    }
+
+    if (objStats.lastCallbackErrorID || objStats.lastQueueErrorID || evStats.lastErrorID) {
+        SystemStatsData sysStats;
+        SystemStatsGet(&sysStats);
+        sysStats.EventSystemWarningID = evStats.lastErrorID;
+        sysStats.ObjectManagerCallbackID = objStats.lastCallbackErrorID;
+        sysStats.ObjectManagerQueueID = objStats.lastQueueErrorID;
+        SystemStatsSet(&sysStats);
+    }
 
-	// Check for event errors
-	UAVObjGetStats(&objStats);
-	EventGetStats(&evStats);
-	UAVObjClearStats();
-	EventClearStats();
-	if (objStats.eventCallbackErrors > 0 || objStats.eventQueueErrors > 0  || evStats.eventErrors > 0) {
-		AlarmsSet(SYSTEMALARMS_ALARM_EVENTSYSTEM, SYSTEMALARMS_ALARM_WARNING);
-	} else {
-		AlarmsClear(SYSTEMALARMS_ALARM_EVENTSYSTEM);
-	}
-	
-	if (objStats.lastCallbackErrorID || objStats.lastQueueErrorID || evStats.lastErrorID) {
-		SystemStatsData sysStats;
-		SystemStatsGet(&sysStats);
-		sysStats.EventSystemWarningID = evStats.lastErrorID;
-		sysStats.ObjectManagerCallbackID = objStats.lastCallbackErrorID;
-		sysStats.ObjectManagerQueueID = objStats.lastQueueErrorID;
-		SystemStatsSet(&sysStats);
-	}
-		
 }
 
 /**
@@ -530,13 +519,13 @@ static void updateSystemAlarms()
  */
 void vApplicationIdleHook(void)
 {
-	// Called when the scheduler has no tasks to run
-	if (idleCounterClear == 0) {
-		++idleCounter;
-	} else {
-		idleCounter = 0;
-		idleCounterClear = 0;
-	}
+    // Called when the scheduler has no tasks to run
+    if (idleCounterClear == 0) {
+        ++idleCounter;
+    } else {
+        idleCounter = 0;
+        idleCounterClear = 0;
+    }
 }
 
 /**
@@ -545,11 +534,11 @@ void vApplicationIdleHook(void)
 #define DEBUG_STACK_OVERFLOW 0
 void vApplicationStackOverflowHook(xTaskHandle * pxTask, signed portCHAR * pcTaskName)
 {
-	stackOverflow = true;
+    stackOverflow = true;
 #if DEBUG_STACK_OVERFLOW
-	static volatile bool wait_here = true;
-	while(wait_here);
-	wait_here = true;
+    static volatile bool wait_here = true;
+    while(wait_here);
+    wait_here = true;
 #endif
 }
 
@@ -559,15 +548,15 @@ void vApplicationStackOverflowHook(xTaskHandle * pxTask, signed portCHAR * pcTas
 #define DEBUG_MALLOC_FAILURES 0
 void vApplicationMallocFailedHook(void)
 {
-	mallocFailed = true;
+    mallocFailed = true;
 #if DEBUG_MALLOC_FAILURES
-	static volatile bool wait_here = true;
-	while(wait_here);
-	wait_here = true;
+    static volatile bool wait_here = true;
+    while(wait_here);
+    wait_here = true;
 #endif
 }
 
 /**
-  * @}
-  * @}
-  */
+ * @}
+ * @}
+ */