diff --git a/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp b/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
index 09e5eac986..dae425b7a7 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
@@ -80,7 +80,8 @@ protected:
 private:
 	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
 
-	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask, (ParamFloat<px4::params::MPC_XY_CRUISE>) _mc_cruise_default); /**< Default mc cruise speed.*/
+	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
+					(ParamFloat<px4::params::MPC_XY_CRUISE>) _mc_cruise_default); /**< Default mc cruise speed.*/
 
 	map_projection_reference_s _reference; /**< Reference frame from global to local. */
 
diff --git a/src/lib/FlightTasks/tasks/FlightTaskAutoLine.hpp b/src/lib/FlightTasks/tasks/FlightTaskAutoLine.hpp
index ac0a209128..575188d3b0 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskAutoLine.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskAutoLine.hpp
@@ -65,17 +65,17 @@ protected:
 	State _current_state{State::none};
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAuto,
-			(ParamFloat<px4::params::MPC_LAND_SPEED>) _land_speed,
-			(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _vel_max_up,
-			(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _vel_max_down,
-			(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _acc_max_xy,
-			(ParamFloat<px4::params::MPC_ACC_HOR>) _acc_xy,
-			(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _acc_max_up,
-			(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _acc_max_down,
-			(ParamFloat<px4::params::MPC_CRUISE_90>) _cruise_speed_90,
-			(ParamFloat<px4::params::NAV_ACC_RAD>) _nav_rad,
-			(ParamFloat<px4::params::MIS_YAW_ERR>) _mis_yaw_error
-			)
+					(ParamFloat<px4::params::MPC_LAND_SPEED>) _land_speed,
+					(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _vel_max_up,
+					(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _vel_max_down,
+					(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _acc_max_xy,
+					(ParamFloat<px4::params::MPC_ACC_HOR>) _acc_xy,
+					(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _acc_max_up,
+					(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _acc_max_down,
+					(ParamFloat<px4::params::MPC_CRUISE_90>) _cruise_speed_90,
+					(ParamFloat<px4::params::NAV_ACC_RAD>) _nav_rad,
+					(ParamFloat<px4::params::MIS_YAW_ERR>) _mis_yaw_error
+				       )
 
 	void _generateIdleSetpoints();
 	void _generateLandSetpoints();
diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp
index 5017eb5960..ee8c380917 100644
--- a/src/modules/mc_pos_control/PositionControl.cpp
+++ b/src/modules/mc_pos_control/PositionControl.cpp
@@ -43,7 +43,7 @@
 using namespace matrix;
 
 PositionControl::PositionControl(ModuleParams *parent) :
-ModuleParams(parent)
+	ModuleParams(parent)
 {}
 
 void PositionControl::updateState(const vehicle_local_position_s &state, const Vector3f &vel_dot)
@@ -200,7 +200,8 @@ void PositionControl::_velocityController(const float &dt)
 	Vector3f vel_err = _vel_sp - _vel;
 
 	// Consider thrust in D-direction.
-	float thrust_desired_D = MPC_Z_VEL_P.get() * vel_err(2) +  MPC_Z_VEL_D.get() * _vel_dot(2) + _thr_int(2) - MPC_THR_HOVER.get();
+	float thrust_desired_D = MPC_Z_VEL_P.get() * vel_err(2) +  MPC_Z_VEL_D.get() * _vel_dot(2) + _thr_int(
+					 2) - MPC_THR_HOVER.get();
 
 	// The Thrust limits are negated and swapped due to NED-frame.
 	float uMax = -MPC_THR_MIN.get();
@@ -221,7 +222,7 @@ void PositionControl::_velocityController(const float &dt)
 	if (fabsf(_thr_sp(0)) + fabsf(_thr_sp(1))  > FLT_EPSILON) {
 		// Thrust set-point in NE-direction is already provided. Only
 		// scaling by the maximum tilt is required.
-		float thr_xy_max = fabsf(_thr_sp(2)) * tanf(MPC_MAN_TILT_MAX.get());
+		float thr_xy_max = fabsf(_thr_sp(2)) * tanf(MPC_MAN_TILT_MAX_rad.get());
 		_thr_sp(0) *= thr_xy_max;
 		_thr_sp(1) *= thr_xy_max;
 
@@ -268,8 +269,8 @@ void PositionControl::updateConstraints(const Controller::Constraints &constrain
 	// Check if adjustable constraints are below global constraints. If they are not stricter than global
 	// constraints, then just use global constraints for the limits.
 
-	if (!PX4_ISFINITE(constraints.tilt_max) || !(constraints.tilt_max < MPC_TILTMAX_AIR.get())) {
-		_constraints.tilt_max = MPC_TILTMAX_AIR.get();
+	if (!PX4_ISFINITE(constraints.tilt_max) || !(constraints.tilt_max < MPC_TILTMAX_AIR_rad.get())) {
+		_constraints.tilt_max = MPC_TILTMAX_AIR_rad.get();
 	}
 
 	if (!PX4_ISFINITE(constraints.vel_max_z_up) || !(constraints.vel_max_z_up < MPC_Z_VEL_MAX_UP.get())) {
diff --git a/src/modules/mc_pos_control/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl.hpp
index 3927be40e2..c62b22c810 100644
--- a/src/modules/mc_pos_control/PositionControl.hpp
+++ b/src/modules/mc_pos_control/PositionControl.hpp
@@ -192,22 +192,23 @@ private:
 	bool _skip_controller{false}; /**< skips position/velocity controller. true for stabilized mode */
 
 	DEFINE_PARAMETERS(
-	        (ParamFloat<px4::params::MPC_THR_MAX>) MPC_THR_MAX,
-			(ParamFloat<px4::params::MPC_THR_HOVER>) MPC_THR_HOVER,
-			(ParamFloat<px4::params::MPC_THR_MIN>) MPC_THR_MIN,
-			(ParamFloat<px4::params::MPC_MANTHR_MIN>) MPC_MANTHR_MIN,
-			(ParamFloat<px4::params::MPC_XY_VEL_MAX>) MPC_XY_VEL_MAX,
-			(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) MPC_Z_VEL_MAX_DN,
-			(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) MPC_Z_VEL_MAX_UP,
-			(ParamFloat<px4::params::MPC_TILTMAX_AIR>) MPC_TILTMAX_AIR,
-			(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) MPC_MAN_TILT_MAX,
-			(ParamFloat<px4::params::MPC_Z_P>) MPC_Z_P,
-			(ParamFloat<px4::params::MPC_Z_VEL_P>) MPC_Z_VEL_P,
-			(ParamFloat<px4::params::MPC_Z_VEL_I>) MPC_Z_VEL_I,
-			(ParamFloat<px4::params::MPC_Z_VEL_D>) MPC_Z_VEL_D,
-			(ParamFloat<px4::params::MPC_XY_P>) MPC_XY_P,
-			(ParamFloat<px4::params::MPC_XY_VEL_P>) MPC_XY_VEL_P,
-			(ParamFloat<px4::params::MPC_XY_VEL_I>) MPC_XY_VEL_I,
-			(ParamFloat<px4::params::MPC_XY_VEL_D>) MPC_XY_VEL_D
+		(ParamFloat<px4::params::MPC_THR_MAX>) MPC_THR_MAX,
+		(ParamFloat<px4::params::MPC_THR_HOVER>) MPC_THR_HOVER,
+		(ParamFloat<px4::params::MPC_THR_MIN>) MPC_THR_MIN,
+		(ParamFloat<px4::params::MPC_MANTHR_MIN>) MPC_MANTHR_MIN,
+		(ParamFloat<px4::params::MPC_XY_VEL_MAX>) MPC_XY_VEL_MAX,
+		(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) MPC_Z_VEL_MAX_DN,
+		(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) MPC_Z_VEL_MAX_UP,
+		(ParamFloat<px4::params::MPC_TILTMAX_AIR>)
+		MPC_TILTMAX_AIR_rad, // maximum tilt for any position controlled mode in radians
+		(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) MPC_MAN_TILT_MAX_rad, // maximum til for stabilized/altitude mode in radians
+		(ParamFloat<px4::params::MPC_Z_P>) MPC_Z_P,
+		(ParamFloat<px4::params::MPC_Z_VEL_P>) MPC_Z_VEL_P,
+		(ParamFloat<px4::params::MPC_Z_VEL_I>) MPC_Z_VEL_I,
+		(ParamFloat<px4::params::MPC_Z_VEL_D>) MPC_Z_VEL_D,
+		(ParamFloat<px4::params::MPC_XY_P>) MPC_XY_P,
+		(ParamFloat<px4::params::MPC_XY_VEL_P>) MPC_XY_VEL_P,
+		(ParamFloat<px4::params::MPC_XY_VEL_I>) MPC_XY_VEL_I,
+		(ParamFloat<px4::params::MPC_XY_VEL_D>) MPC_XY_VEL_D
 	)
 };