multirotor_pos_control: added takeoff gap (hardcoded 3m), fixed code style

src/modules/multirotor_pos_control/multirotor_pos_control.c

@@ -351,7 +351,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
 					if (reset_sp_z) {
 						reset_sp_z = false;
 						local_pos_sp.z = local_pos.z;
-						mavlink_log_info(mavlink_fd, "[mpc] reset alt sp: %.2f", (double)-local_pos_sp.z);
+						mavlink_log_info(mavlink_fd, "[mpc] reset alt sp: %.2f", (double) - local_pos_sp.z);
 					}
 
 					/* move altitude setpoint with throttle stick */
@@ -424,12 +424,12 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
 					if (reset_auto_pos) {
 						local_pos_sp.x = local_pos.x;
 						local_pos_sp.y = local_pos.y;
-						local_pos_sp.z = -params.takeoff_alt;
+						local_pos_sp.z = - params.takeoff_alt - 3.0f;
 						local_pos_sp.yaw = att.yaw;
 						local_pos_sp_valid = true;
 						att_sp.yaw_body = att.yaw;
 						reset_auto_pos = false;
-						mavlink_log_info(mavlink_fd, "[mpc] takeoff sp: %.2f %.2f %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y, (double)-local_pos_sp.z);
+						mavlink_log_info(mavlink_fd, "[mpc] takeoff sp: %.2f %.2f %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y, (double) - local_pos_sp.z);
 					}
 
 				} else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_RTL) {
@@ -505,7 +505,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
 						/* set altitude setpoint to 5m under ground,
 						 * don't set it too deep to avoid unexpected landing in case of false "landed" signal */
 						local_pos_sp.z = 5.0f;
-						mavlink_log_info(mavlink_fd, "[mpc] landed, set alt: %.2f", (double)-local_pos_sp.z);
+						mavlink_log_info(mavlink_fd, "[mpc] landed, set alt: %.2f", (double) - local_pos_sp.z);
 					}
 
 					reset_sp_z = true;
@@ -515,7 +515,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
 					if (reset_sp_z) {
 						reset_sp_z = false;
 						local_pos_sp.z = local_pos.z;
-						mavlink_log_info(mavlink_fd, "[mpc] set loiter alt: %.2f", (double)-local_pos_sp.z);
+						mavlink_log_info(mavlink_fd, "[mpc] set loiter alt: %.2f", (double) - local_pos_sp.z);
 					}
 				}