Наведён порядок в коде

Source/Control/Inc/attitude.h

@@ -5,13 +5,13 @@
 #include "radio_receiver.h"
 #include "pid.h"
 
-#define CF_ALPHA        0.99f
+#define CF_ALPHA		0.99f
 
 typedef struct
 {
-  float roll;   // deg
-  float pitch;  // deg
-  float yaw_rate;    // deg/s
+	float roll;			// deg
+	float pitch;		// deg
+	float yaw_rate;		// deg/s
 } attitude_t;
 
 void complementary_filter_update(attitude_t* att, const imu_scaled_t* imu);

Source/Control/Inc/biquad_filter.h

@@ -3,15 +3,15 @@
 
 #include <math.h>
 
-#define PI      3.14159265359f
+#define PI			3.14159265359f
 
 typedef struct
 {
-  float b0, b1, b2;
-  float a1, a2;
-
-  float x1, x2;
-  float y1, y2;
+	float b0, b1, b2;
+	float a1, a2;
+	
+	float x1, x2;
+	float y1, y2;
 } biquad_t;
 
 void biquad_init_lpf(biquad_t* f, float cutoff, float sample_rate);

Source/Control/Inc/pid.h

@@ -5,19 +5,19 @@
 
 typedef struct
 {
-  float kp;
-  float ki;
-  float kd;
-  
-  float integral;
-  float prev_error;
+	float kp;
+	float ki;
+	float kd;
+	
+	float integral;
+	float prev_error;
 } pid_t;
 
 typedef struct
 {
-  float roll;
-  float pitch;
-  float yaw;
+	float roll;
+	float pitch;
+	float yaw;
 } control_channels_t;
 
 float pid_update(pid_t* pid, float error, float gyro_rate, float dt);