diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
index a094772b37..f56e3ad243 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
@@ -54,7 +54,7 @@
 #include <uORB/uORB.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/vehicle_attitude.h>
- #include <uORB/topics/control_state.h>
+#include <uORB/topics/control_state.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vision_position_estimate.h>
@@ -527,22 +527,27 @@ void AttitudeEstimatorQ::task_main()
 		}
 
 		struct control_state_s ctrl_state = {};
+
 		ctrl_state.timestamp = sensors.timestamp;
 
 		/* Attitude quaternions for control state */
 		ctrl_state.q[0] = _q(0);
+
 		ctrl_state.q[1] = _q(1);
+
 		ctrl_state.q[2] = _q(2);
+
 		ctrl_state.q[3] = _q(3);
 
 		/* Attitude rates for control state */
 		ctrl_state.roll_rate = _lp_roll_rate.apply(_rates(0));
+
 		ctrl_state.pitch_rate = _lp_pitch_rate.apply(_rates(1));
+
 		ctrl_state.roll_rate = _rates(2);
 
 		/* Publish to control state topic */
-		if (_ctrl_state_pub == nullptr)
-		{
+		if (_ctrl_state_pub == nullptr) {
 			_ctrl_state_pub = orb_advertise(ORB_ID(control_state), &ctrl_state);
 
 		} else {