move code which clears the pos and alt hold flags to the correct place.

this should fix the problem of the jump in the altitude setpoint when
switching into altitude hold mode.

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -1254,6 +1254,16 @@ MulticopterPositionControl::task_main()
 			_vel_err_d(2) = _vel_z_deriv.update(-_vel(2));
 		}
 
+		// reset the horizontal and vertical position hold flags for non-manual modes
+		// or if position / altitude is not controlled
+		if (!_control_mode.flag_control_position_enabled || !_control_mode.flag_control_manual_enabled) {
+			_pos_hold_engaged = false;
+		}
+
+		if (!_control_mode.flag_control_altitude_enabled || !_control_mode.flag_control_manual_enabled) {
+			_alt_hold_engaged = false;
+		}
+
 		if (_control_mode.flag_control_altitude_enabled ||
 				_control_mode.flag_control_position_enabled ||
 				_control_mode.flag_control_climb_rate_enabled ||
@@ -1266,16 +1276,6 @@ MulticopterPositionControl::task_main()
 			_run_pos_control = true;
 			_run_alt_control = true;
 
-			// reset the horizontal and vertical position hold flags for non-manual modes
-			// or if position is not controlled
-			if (!_control_mode.flag_control_position_enabled || !_control_mode.flag_control_manual_enabled) {
-				_pos_hold_engaged = false;
-			}
-
-			if (!_control_mode.flag_control_altitude_enabled || !_control_mode.flag_control_manual_enabled) {
-				_alt_hold_engaged = false;
-			}
-
 			/* select control source */
 			if (_control_mode.flag_control_manual_enabled) {
 				/* manual control */