diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 10ddc441dc..978350af00 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -881,7 +881,8 @@ void Ekf2::task_main()
 				map_projection_reproject(&ekf_origin, lpos.x, lpos.y, &est_lat, &est_lon);
 				global_pos.lat = est_lat; // Latitude in degrees
 				global_pos.lon = est_lon; // Longitude in degrees
-				map_projection_reproject(&ekf_origin, lpos.x - lpos.delta_xy[0], lpos.y - lpos.delta_xy[1], &lat_pre_reset, &lon_pre_reset);
+				map_projection_reproject(&ekf_origin, lpos.x - lpos.delta_xy[0], lpos.y - lpos.delta_xy[1], &lat_pre_reset,
+							 &lon_pre_reset);
 				global_pos.delta_lat_lon[0] = est_lat - lat_pre_reset;
 				global_pos.delta_lat_lon[1] = est_lon - lon_pre_reset;
 				global_pos.lat_lon_reset_counter = lpos.xy_reset_counter;
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 47b3c60a43..845ad50fbf 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -2296,7 +2296,8 @@ FixedwingPositionControl::task_main()
 				}
 
 				// adjust navigation waypoints in position control mode
-				if (_control_mode.flag_control_altitude_enabled && _control_mode.flag_control_velocity_enabled && _global_pos.lat_lon_reset_counter != _pos_reset_counter) {
+				if (_control_mode.flag_control_altitude_enabled && _control_mode.flag_control_velocity_enabled
+				    && _global_pos.lat_lon_reset_counter != _pos_reset_counter) {
 					_hdg_hold_prev_wp.lat += _global_pos.delta_lat_lon[0];
 					_hdg_hold_prev_wp.lon += _global_pos.delta_lat_lon[1];
 					_hdg_hold_curr_wp.lat += _global_pos.delta_lat_lon[0];
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 8281fd268b..ee9fd721af 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -677,7 +677,8 @@ MulticopterPositionControl::poll_subscriptions()
 		if (_control_mode.flag_control_manual_enabled) {
 			if (_heading_reset_counter != _ctrl_state.quat_reset_counter) {
 				_heading_reset_counter = _ctrl_state.quat_reset_counter;
-				math::Quaternion delta_q(_ctrl_state.delta_q_reset[0], _ctrl_state.delta_q_reset[1], _ctrl_state.delta_q_reset[2], _ctrl_state.delta_q_reset[3]);
+				math::Quaternion delta_q(_ctrl_state.delta_q_reset[0], _ctrl_state.delta_q_reset[1], _ctrl_state.delta_q_reset[2],
+							 _ctrl_state.delta_q_reset[3]);
 
 				// we only extract the heading change from the delta quaternion
 				math::Vector<3> delta_euler = delta_q.to_euler();