diff --git a/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp b/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
index dfe98499fb..3f67c23f51 100644
--- a/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
+++ b/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
@@ -64,9 +64,8 @@ bool FlightTaskTransition::update()
 	// demand zero vertical velocity and level attitude
 	// tailsitters will override attitude and thrust setpoint
 	// tiltrotors and standard vtol will overrride roll and pitch setpoint but keep vertical thrust setpoint
-	_position_setpoint *= NAN;
+	_position_setpoint.setAll(NAN);
 	_velocity_setpoint(2) = 0.0f;
-	_position_setpoint(2) = NAN;
 
 	_yaw_setpoint = NAN;
 	return true;
diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index a66bbcb695..376f757a79 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -196,18 +196,15 @@ float VtolType::update_and_get_backtransition_pitch_sp()
 	const float track = atan2f(_local_pos->vy, _local_pos->vx);
 	const float accel_body_forward = cosf(track) * _local_pos->ax + sinf(track) * _local_pos->ay;
 
-	float accel_error_forward = 0.0f;
-
 	// get accel error, positive means decelerating too slow, need to pitch up (must reverse dec_max, as it is a positive number)
-	accel_error_forward = _params->back_trans_dec_sp + accel_body_forward;
+	const float accel_error_forward = _params->back_trans_dec_sp + accel_body_forward;
 
-	float pitch_sp_new = _params->dec_to_pitch_ff * _params->back_trans_dec_sp + _accel_to_pitch_integ;
+	const float pitch_sp_new = _params->dec_to_pitch_ff * _params->back_trans_dec_sp + _accel_to_pitch_integ;
 
 	float integrator_input = _params->dec_to_pitch_i * accel_error_forward;
 
 	if ((pitch_sp_new >= pitch_lim && accel_error_forward > 0.0f) ||
-	    (pitch_sp_new <= -pitch_lim && accel_error_forward < 0.0f)
-	   ) {
+	    (pitch_sp_new <= -pitch_lim && accel_error_forward < 0.0f)) {
 		integrator_input = 0.0f;
 	}
 
@@ -215,7 +212,6 @@ float VtolType::update_and_get_backtransition_pitch_sp()
 
 
 	return math::constrain(pitch_sp_new, -pitch_lim, pitch_lim);
-
 }
 
 bool VtolType::can_transition_on_ground()
diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h
index 93eb2b3666..f4faaf8f39 100644
--- a/src/modules/vtol_att_control/vtol_type.h
+++ b/src/modules/vtol_att_control/vtol_type.h
@@ -226,7 +226,7 @@ protected:
 	motor_state _motor_state = motor_state::DISABLED;
 
 	hrt_abstime _last_loop_ts = 0;
-	float 	_transition_dt = 0;
+	float _transition_dt = 0;
 
 	float _accel_to_pitch_integ = 0;