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 55dbc1546a..a34b5d5cb1 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 - 2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013 - 2016 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
@@ -1377,53 +1377,52 @@ MulticopterPositionControl::task_main()
 
 				// do not go slower than the follow target velocity when position tracking is active (set to valid)
 
-                if(_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET &&
-                   _pos_sp_triplet.current.velocity_valid &&
-                   _pos_sp_triplet.current.position_valid) {
+				if(_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET &&
+					_pos_sp_triplet.current.velocity_valid &&
+					_pos_sp_triplet.current.position_valid) {
 
-                    math::Vector<3> ft_vel(_pos_sp_triplet.current.vx, _pos_sp_triplet.current.vy, 0);
+					math::Vector<3> ft_vel(_pos_sp_triplet.current.vx, _pos_sp_triplet.current.vy, 0);
 
-                    float cos_ratio = (ft_vel*_vel_sp)/(ft_vel.length()*_vel_sp.length());
+					float cos_ratio = (ft_vel*_vel_sp)/(ft_vel.length()*_vel_sp.length());
 
-                    // only override velocity set points when uav is traveling in same direction as target and vector component
-                    // is greater than calculated position set point velocity component
+					// only override velocity set points when uav is traveling in same direction as target and vector component
+					// is greater than calculated position set point velocity component
 
-                    if(cos_ratio > 0) {
-                        ft_vel *= (cos_ratio);
-                        // min speed a little faster than target vel
-                        ft_vel += ft_vel.normalized()*1.5f;
-                    } else {
-                        ft_vel.zero();
-                    }
+					if(cos_ratio > 0) {
+						ft_vel *= (cos_ratio);
+						// min speed a little faster than target vel
+						ft_vel += ft_vel.normalized()*1.5f;
+					} else {
+						ft_vel.zero();
+					}
 
-                    _vel_sp(0) = fabs(ft_vel(0)) > fabs(_vel_sp(0)) ? ft_vel(0) : _vel_sp(0);
-                    _vel_sp(1) = fabs(ft_vel(1)) > fabs(_vel_sp(1)) ? ft_vel(1) : _vel_sp(1);
+					_vel_sp(0) = fabs(ft_vel(0)) > fabs(_vel_sp(0)) ? ft_vel(0) : _vel_sp(0);
+					_vel_sp(1) = fabs(ft_vel(1)) > fabs(_vel_sp(1)) ? ft_vel(1) : _vel_sp(1);
 
-                    // track target using velocity only
+					// track target using velocity only
 
-                } else if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET &&
-                           _pos_sp_triplet.current.velocity_valid) {
+				} else if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET &&
+					_pos_sp_triplet.current.velocity_valid) {
 
-                    _vel_sp(0) = _pos_sp_triplet.current.vx;
-                    _vel_sp(1) = _pos_sp_triplet.current.vy;
-                }
+					_vel_sp(0) = _pos_sp_triplet.current.vx;
+					_vel_sp(1) = _pos_sp_triplet.current.vy;
+				}
 
-                if (_run_alt_control) {
-                    _vel_sp(2) = (_pos_sp(2) - _pos(2)) * _params.pos_p(2);
-                }
+				if (_run_alt_control) {
+					_vel_sp(2) = (_pos_sp(2) - _pos(2)) * _params.pos_p(2);
+				}
 
-                /* make sure velocity setpoint is saturated in xy*/
+				/* make sure velocity setpoint is saturated in xy*/
+				float vel_norm_xy = sqrtf(_vel_sp(0) * _vel_sp(0) +
+							  _vel_sp(1) * _vel_sp(1));
 
-                float vel_norm_xy = sqrtf(_vel_sp(0) * _vel_sp(0) +  _vel_sp(1) * _vel_sp(1));
-
-                if (vel_norm_xy > _params.vel_max(0)) {
-                    /* note assumes vel_max(0) == vel_max(1) */
-                    _vel_sp(0) = _vel_sp(0) * _params.vel_max(0) / vel_norm_xy;
-                    _vel_sp(1) = _vel_sp(1) * _params.vel_max(1) / vel_norm_xy;
-                }
+				if (vel_norm_xy > _params.vel_max(0)) {
+					/* note assumes vel_max(0) == vel_max(1) */
+					_vel_sp(0) = _vel_sp(0) * _params.vel_max(0) / vel_norm_xy;
+					_vel_sp(1) = _vel_sp(1) * _params.vel_max(1) / vel_norm_xy;
+				}
 
 				/* make sure velocity setpoint is saturated in z*/
-
 				float vel_norm_z = sqrtf(_vel_sp(2) * _vel_sp(2));
 
 				if (vel_norm_z > _params.vel_max(2)) {