diff --git a/flight/modules/ManualControl/manualcontrol.c b/flight/modules/ManualControl/manualcontrol.c
index 4de61af46..a721b0a91 100644
--- a/flight/modules/ManualControl/manualcontrol.c
+++ b/flight/modules/ManualControl/manualcontrol.c
@@ -113,7 +113,7 @@ static const controlHandler handler_PATHPLANNER = {
     .handler           = &pathPlannerHandler,
 };
 
-#endif
+#endif /* ifndef PIOS_EXCLUDE_ADVANCED_FEATURES */
 // Private variables
 static DelayedCallbackInfo *callbackHandle;
 
diff --git a/flight/modules/StateEstimation/filtercf.c b/flight/modules/StateEstimation/filtercf.c
index d15e38c68..70e98d981 100644
--- a/flight/modules/StateEstimation/filtercf.c
+++ b/flight/modules/StateEstimation/filtercf.c
@@ -167,9 +167,9 @@ static int32_t maininit(stateFilter *self)
  */
 static filterResult filter(stateFilter *self, stateEstimation *state)
 {
-    struct data *this = (struct data *)self->localdata;
+    struct data *this   = (struct data *)self->localdata;
 
-    filterResult result    = FILTERRESULT_OK;
+    filterResult result = FILTERRESULT_OK;
 
     if (IS_SET(state->updated, SENSORUPDATES_mag)) {
         this->magUpdated    = 1;
diff --git a/flight/modules/StateEstimation/inc/stateestimation.h b/flight/modules/StateEstimation/inc/stateestimation.h
index de38713c0..d93235f4e 100644
--- a/flight/modules/StateEstimation/inc/stateestimation.h
+++ b/flight/modules/StateEstimation/inc/stateestimation.h
@@ -35,11 +35,11 @@
 
 // Enumeration for filter result
 typedef enum {
-	FILTERRESULT_UNINITIALISED=-1,
-    FILTERRESULT_OK=0,
-    FILTERRESULT_WARNING=1,
-    FILTERRESULT_CRITICAL=2,
-    FILTERRESULT_ERROR=3,
+    FILTERRESULT_UNINITIALISED = -1,
+    FILTERRESULT_OK       = 0,
+    FILTERRESULT_WARNING  = 1,
+    FILTERRESULT_CRITICAL = 2,
+    FILTERRESULT_ERROR    = 3,
 } filterResult;
 
 
diff --git a/flight/modules/StateEstimation/stateestimation.c b/flight/modules/StateEstimation/stateestimation.c
index c6878fb62..5b71b252d 100644
--- a/flight/modules/StateEstimation/stateestimation.c
+++ b/flight/modules/StateEstimation/stateestimation.c
@@ -334,9 +334,9 @@ MODULE_INITCALL(StateEstimationInitialize, StateEstimationStart);
 static void StateEstimationCb(void)
 {
     static enum { RUNSTATE_LOAD = 0, RUNSTATE_FILTER = 1, RUNSTATE_SAVE = 2 } runState = RUNSTATE_LOAD;
-    static filterResult alarm = FILTERRESULT_OK;
+    static filterResult alarm     = FILTERRESULT_OK;
     static filterResult lastAlarm = FILTERRESULT_UNINITIALISED;
-    static uint16_t alarmcounter = 0;
+    static uint16_t alarmcounter  = 0;
     static const filterPipeline *current;
     static stateEstimation states;
     static uint32_t last_time;