diff --git a/pid/ec/pid.cpp b/pid/ec/pid.cpp
index a1c4e41..ef0df14 100644
--- a/pid/ec/pid.cpp
+++ b/pid/ec/pid.cpp
@@ -53,15 +53,15 @@
     // calculate P, I, D, FF
 
     // Pid
-    error   = setpoint - input;
-    p_term  = pidinfoptr->p_c * error;
+    error = setpoint - input;
+    p_term = pidinfoptr->p_c * error;
 
     // pId
     if (0.0f != pidinfoptr->i_c)
     {
-        i_term  = pidinfoptr->integral;
-        i_term  += error * pidinfoptr->i_c * pidinfoptr->ts;
-        i_term  = clamp(i_term, pidinfoptr->i_lim.min, pidinfoptr->i_lim.max);
+        i_term = pidinfoptr->integral;
+        i_term += error * pidinfoptr->i_c * pidinfoptr->ts;
+        i_term = clamp(i_term, pidinfoptr->i_lim.min, pidinfoptr->i_lim.max);
     }
 
     // FF
@@ -79,8 +79,8 @@
         if (pidinfoptr->slew_neg != 0.0f)
         {
             // Don't decrease too fast
-            float min_out = pidinfoptr->last_output + pidinfoptr->slew_neg *
-                            pidinfoptr->ts;
+            float min_out =
+                pidinfoptr->last_output + pidinfoptr->slew_neg * pidinfoptr->ts;
             if (output < min_out)
             {
                 output = min_out;
@@ -89,8 +89,8 @@
         if (pidinfoptr->slew_pos != 0.0f)
         {
             // Don't increase too fast
-            float max_out = pidinfoptr->last_output + pidinfoptr->slew_pos *
-                            pidinfoptr->ts;
+            float max_out =
+                pidinfoptr->last_output + pidinfoptr->slew_pos * pidinfoptr->ts;
             if (output > max_out)
             {
                 output = max_out;
@@ -107,12 +107,12 @@
 
     // Clamp again because having limited the output may result in a
     // larger integral term
-    i_term  = clamp(i_term, pidinfoptr->i_lim.min, pidinfoptr->i_lim.max);
+    i_term = clamp(i_term, pidinfoptr->i_lim.min, pidinfoptr->i_lim.max);
     pidinfoptr->integral = i_term;
-    pidinfoptr->initialized    = true;
-    pidinfoptr->last_output    = output;
+    pidinfoptr->initialized = true;
+    pidinfoptr->last_output = output;
 
     return output;
 }
 
-}
+} // namespace ec
diff --git a/pid/ec/pid.hpp b/pid/ec/pid.hpp
index e138933..6b1030a 100644
--- a/pid/ec/pid.hpp
+++ b/pid/ec/pid.hpp
@@ -7,8 +7,8 @@
 
 typedef struct
 {
-    float       min;
-    float       max;
+    float min;
+    float max;
 } limits_t;
 
 /* Note: If you update these structs you need to update the copy code in
@@ -16,21 +16,21 @@
  */
 typedef struct
 {
-    bool        initialized;        // has pid been initialized
+    bool initialized; // has pid been initialized
 
-    float       ts;                 // sample time in seconds
-    float       integral;           // intergal of error
-    float       last_output;        // value of last output
+    float ts;          // sample time in seconds
+    float integral;    // intergal of error
+    float last_output; // value of last output
 
-    float       p_c;                // coeff for P
-    float       i_c;                // coeff for I
-    float       ff_off;             // offset coeff for feed-forward term
-    float       ff_gain;            // gain for feed-forward term
+    float p_c;     // coeff for P
+    float i_c;     // coeff for I
+    float ff_off;  // offset coeff for feed-forward term
+    float ff_gain; // gain for feed-forward term
 
-    limits_t    i_lim;              // clamp of integral
-    limits_t    out_lim;            // clamp of output
-    float       slew_neg;
-    float       slew_pos;
+    limits_t i_lim;   // clamp of integral
+    limits_t out_lim; // clamp of output
+    float slew_neg;
+    float slew_pos;
 } pid_info_t;
 
 float pid(pid_info_t* pidinfoptr, float input, float setpoint);
@@ -38,16 +38,15 @@
 /* Condensed version for use by the configuration. */
 struct pidinfo
 {
-    float        ts;                 // sample time in seconds
-    float        p_c;                // coeff for P
-    float        i_c;                // coeff for I
-    float        ff_off;             // offset coeff for feed-forward term
-    float        ff_gain;            // gain for feed-forward term
-    ec::limits_t i_lim;              // clamp of integral
-    ec::limits_t out_lim;            // clamp of output
-    float        slew_neg;
-    float        slew_pos;
+    float ts;             // sample time in seconds
+    float p_c;            // coeff for P
+    float i_c;            // coeff for I
+    float ff_off;         // offset coeff for feed-forward term
+    float ff_gain;        // gain for feed-forward term
+    ec::limits_t i_lim;   // clamp of integral
+    ec::limits_t out_lim; // clamp of output
+    float slew_neg;
+    float slew_pos;
 };
 
-
-}
+} // namespace ec