fixed code style

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -918,6 +918,7 @@ void MulticopterPositionControl::control_auto(float dt)
 			_reset_pos_sp = true;
 			_reset_alt_sp = true;
 		}
+
 		reset_pos_sp();
 		reset_alt_sp();
 		/* set current velocity as last target velocity to smooth out transition */
@@ -1091,6 +1092,7 @@ void MulticopterPositionControl::control_auto(float dt)
 			_reset_alt_sp = false;
 
 			/* otherwise: in case of interrupted mission don't go to waypoint but stay at current position */
+
 		} else {
 			_reset_pos_sp = true;
 			_reset_alt_sp = true;
@@ -1266,8 +1268,9 @@ MulticopterPositionControl::task_main()
 			}
 
 			/* weather-vane mode for vtol: disable yaw control */
-			if(!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.disable_mc_yaw_control == true) {
+			if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.disable_mc_yaw_control == true) {
 				_att_sp.disable_mc_yaw_control = true;
+
 			} else {
 				/* reset in case of setpoint updates */
 				_att_sp.disable_mc_yaw_control = false;
@@ -1318,6 +1321,7 @@ MulticopterPositionControl::task_main()
 				/* publish attitude setpoint */
 				if (_att_sp_pub != nullptr) {
 					orb_publish(_attitude_setpoint_id, _att_sp_pub, &_att_sp);
+
 				} else if (_attitude_setpoint_id) {
 					_att_sp_pub = orb_advertise(_attitude_setpoint_id, &_att_sp);
 				}
@@ -1382,7 +1386,7 @@ MulticopterPositionControl::task_main()
 
 					// check if we are not already in air.
 					// if yes then we don't need a jumped takeoff anymore
-					if (!_takeoff_jumped && !_vehicle_status.condition_landed && fabsf(_takeoff_thrust_sp) < FLT_EPSILON ) {
+					if (!_takeoff_jumped && !_vehicle_status.condition_landed && fabsf(_takeoff_thrust_sp) < FLT_EPSILON) {
 						_takeoff_jumped = true;
 					}
 
@@ -1392,6 +1396,7 @@ MulticopterPositionControl::task_main()
 							_takeoff_thrust_sp += 0.5f * dt;
 							_vel_sp.zero();
 							_vel_prev.zero();
+
 						} else {
 							// copter has reached our takeoff speed. split the thrust setpoint up
 							// into an integral part and into a P part
@@ -1547,8 +1552,7 @@ MulticopterPositionControl::task_main()
 
 						/* assume ground, cut thrust */
 						if (_in_landing
-								&& _vel_z_lp < 0.1f
-								) {
+								&& _vel_z_lp < 0.1f) {
 							thr_max = 0.0f;
 							_in_landing = false;
 							_lnd_reached_ground = true;
@@ -1565,8 +1569,7 @@ MulticopterPositionControl::task_main()
 						if (_lnd_reached_ground
 								/* XXX: magic value, assuming free fall above 4m/s2 acceleration */
 								&& (_acc_z_lp > 4.0f
-									|| _vel_z_lp > 2.0f * _params.land_speed)
-								) {
+								    || _vel_z_lp > 2.0f * _params.land_speed)) {
 							thr_max = _params.thr_max;
 							_in_landing = false;
 							_lnd_reached_ground = false;
@@ -1811,7 +1814,8 @@ MulticopterPositionControl::task_main()
 					!(!_control_mode.flag_control_altitude_enabled && _manual.z < 0.1f)) {
 
 				/* we want to know the real constraint, and global overrides manual */
-				const float yaw_rate_max = (_params.man_yaw_max < _params.global_yaw_max) ? _params.man_yaw_max : _params.global_yaw_max;
+				const float yaw_rate_max = (_params.man_yaw_max < _params.global_yaw_max) ? _params.man_yaw_max :
+							   _params.global_yaw_max;
 				const float yaw_offset_max = yaw_rate_max / _params.mc_att_yaw_p;
 
 				_att_sp.yaw_sp_move_rate = _manual.r * yaw_rate_max;