diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
index 77134e7b2d..4935a8d248 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -42,19 +42,18 @@ using namespace matrix;
 
 void FlightTaskManualAltitude::_scaleSticks()
 {
-	/* Reuse same scaling as for stabilized */
+	// reuse same scaling as for stabilized
 	FlightTaskManualStabilized::_scaleSticks();
 
-	/* Scale horizontal velocity with expo curve stick input*/
+	// scale horizontal velocity with expo curve stick input
 	const float vel_max_z = (_sticks(2) > 0.0f) ? _limits.speed_dn_max : _limits.speed_up_max;
 	_velocity_setpoint(2) = vel_max_z * _sticks_expo(2);
 }
 
 void FlightTaskManualAltitude::_updateAltitudeLock()
 {
-	/* Depending on stick inputs and velocity, position is locked.
-	 * If not locked, altitude setpoint is set to NAN.
-	 */
+	// Depending on stick inputs and velocity, position is locked.
+	// If not locked, altitude setpoint is set to NAN.
 
 	// check if user wants to break
 	const bool apply_brake = fabsf(_velocity_setpoint(2)) <= FLT_EPSILON;
@@ -102,7 +101,7 @@ void FlightTaskManualAltitude::_terrain_following(bool apply_brake, bool stopped
 {
 
 	if (apply_brake && stopped && !PX4_ISFINITE(_dist_to_ground_lock)) {
-		// User wants to break and vehicle reached zero velocity. Lock height height to ground.
+		// User wants to break and vehicle reached zero velocity. Lock height to ground.
 
 		// lock position
 		_position_setpoint(2) = _position(2);
@@ -130,11 +129,11 @@ void FlightTaskManualAltitude::_updateSetpoints()
 
 	_thrust_setpoint *= NAN; // Don't need thrust setpoint from Stabilized mode.
 
-	/* Thrust in xy are extracted directly from stick inputs. A magnitude of
-	 * 1 means that maximum thrust along xy is required. A magnitude of 0 means no
-	 * thrust along xy is required. The maximum thrust along xy depends on the thrust
-	 * setpoint along z-direction, which is computed in PositionControl.cpp.
-	 */
+	// Thrust in xy are extracted directly from stick inputs. A magnitude of
+	// 1 means that maximum thrust along xy is demanded. A magnitude of 0 means no
+	// thrust along xy is demanded. The maximum thrust along xy depends on the thrust
+	// setpoint along z-direction, which is computed in PositionControl.cpp.
+
 	Vector2f sp{_sticks(0), _sticks(1)};
 	_rotateIntoHeadingFrame(sp);
 
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp b/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp
index 27bcdc4f8e..430120d880 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp
@@ -49,6 +49,9 @@ public:
 	virtual ~FlightTaskManualAltitude() = default;
 
 protected:
+	void _updateSetpoints() override; /**< updates all setpoints */
+	void _scaleSticks() override; /**< scales sticks to velocity in z */
+
 	/**
 	 *  Check and sets for position lock.
 	 *  If sticks are at center position, the vehicle
@@ -56,14 +59,6 @@ protected:
 	 */
 	void _updateAltitudeLock();
 
-	void _respectMinAltitude();
-
-	/**
-	 *
-	 */
-	void _updateSetpoints() override; /**< updates all setpoints */
-	void _scaleSticks() override; /**< scales sticks to velocity in z */
-
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualStabilized,
 					(ParamFloat<px4::params::MPC_HOLD_MAX_Z>) MPC_HOLD_MAX_Z,
 					(ParamFloat<px4::params::SENS_FLOW_MINRNG>) SENS_FLOW_MINRNG,
@@ -88,4 +83,11 @@ private:
 	 */
 	void _terrain_following(bool apply_brake, bool stopped);
 
+	/**
+	 * Minimum Altitude during range sensor operation.
+	 * If a range sensor is used for altitude estimates, for
+	 * best operation a minimum altitude is required. The minimum
+	 * altitude is only enforced during altitude lock.
+	 */
+	void _respectMinAltitude();
 };