diff --git a/common/modeldata.h b/common/modeldata.h
index e13840d53e..a00d3d49d3 100644
--- a/common/modeldata.h
+++ b/common/modeldata.h
@@ -4,7 +4,7 @@
 #include "common/mat.h"
 #include "system/hardware/hw.h"
 
-const int  TRAJECTORY_SIZE = 33;
+const int TRAJECTORY_SIZE = 33;
 const int LAT_MPC_N = 16;
 const int LON_MPC_N = 32;
 const float MIN_DRAW_DISTANCE = 10.0;
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 5639a1f6c7..b6479e5608 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -595,7 +595,7 @@ class Controls:
     CC.enabled = self.enabled
     # Check which actuators can be enabled
     CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
-                     CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
+                   CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
     CC.longActive = self.active and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators
@@ -718,7 +718,7 @@ class Controls:
 
     recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0  # 5s blinker cooldown
     ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
-                    and not CC.latActive and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
+                  and not CC.latActive and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
 
     model_v2 = self.sm['modelV2']
     desire_prediction = model_v2.meta.desirePrediction
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index ffa8373834..e8f9585a6f 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -125,10 +125,10 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
   desired_curvature_rate = curvature_rates[0]
   max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
   safe_desired_curvature_rate = clip(desired_curvature_rate,
-                                          -max_curvature_rate,
-                                          max_curvature_rate)
+                                     -max_curvature_rate,
+                                     max_curvature_rate)
   safe_desired_curvature = clip(desired_curvature,
-                                     current_curvature_desired - max_curvature_rate * DT_MDL,
-                                     current_curvature_desired + max_curvature_rate * DT_MDL)
+                                current_curvature_desired - max_curvature_rate * DT_MDL,
+                                current_curvature_desired + max_curvature_rate * DT_MDL)
 
   return safe_desired_curvature, safe_desired_curvature_rate
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index f72995d414..43e1f9cc4b 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -50,10 +50,6 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
       elif started_condition:
         long_control_state = LongCtrlState.pid
 
-
-
-
-
   return long_control_state
 
 
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 057cf5623f..01a69d6f87 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -352,7 +352,7 @@ class LongitudinalMpc:
 
       x_and_cruise = np.column_stack([x, cruise_target])
       x = np.min(x_and_cruise, axis=1)
-      
+
       self.source = 'e2e' if x_and_cruise[0,0] < x_and_cruise[0,1] else 'cruise'
 
     else:
@@ -386,7 +386,6 @@ class LongitudinalMpc:
          (lead_1_obstacle[0] - lead_0_obstacle[0]):
         self.source = 'lead1'
 
-      
 
   def update_with_xva(self, x, v, a):
     self.params[:,0] = -10.