diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index ede0c44d8b..25564966be 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -549,14 +549,12 @@ Commander::handle_command(const vehicle_command_s &cmd)
 
 						switch (custom_sub_mode) {
 						case PX4_CUSTOM_SUB_MODE_AUTO_LOITER:
-							main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags,
-											 &_internal_state);
+							main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, &_internal_state);
 							break;
 
 						case PX4_CUSTOM_SUB_MODE_AUTO_MISSION:
 							if (_status_flags.condition_auto_mission_available) {
-								main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags,
-												 &_internal_state);
+								main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags, &_internal_state);
 
 							} else {
 								main_ret = TRANSITION_DENIED;
@@ -565,18 +563,15 @@ Commander::handle_command(const vehicle_command_s &cmd)
 							break;
 
 						case PX4_CUSTOM_SUB_MODE_AUTO_RTL:
-							main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_RTL, _status_flags,
-											 &_internal_state);
+							main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_RTL, _status_flags, &_internal_state);
 							break;
 
 						case PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF:
-							main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_TAKEOFF, _status_flags,
-											 &_internal_state);
+							main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_TAKEOFF, _status_flags, &_internal_state);
 							break;
 
 						case PX4_CUSTOM_SUB_MODE_AUTO_LAND:
-							main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LAND, _status_flags,
-											 &_internal_state);
+							main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LAND, _status_flags, &_internal_state);
 							break;
 
 						case PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET:
@@ -585,8 +580,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 							break;
 
 						case PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND:
-							main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_PRECLAND, _status_flags,
-											 &_internal_state);
+							main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_PRECLAND, _status_flags, &_internal_state);
 							break;
 
 						default:
@@ -596,8 +590,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 						}
 
 					} else {
-						main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags,
-										 &_internal_state);
+						main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags, &_internal_state);
 					}
 
 				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) {
@@ -606,8 +599,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 
 				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_RATTITUDE) {
 					/* RATTITUDE */
-					main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_RATTITUDE, _status_flags,
-									 &_internal_state);
+					main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_RATTITUDE, _status_flags, &_internal_state);
 
 				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_STABILIZED) {
 					/* STABILIZED */
@@ -617,16 +609,14 @@ Commander::handle_command(const vehicle_command_s &cmd)
 					reset_posvel_validity();
 
 					/* OFFBOARD */
-					main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_OFFBOARD, _status_flags,
-									 &_internal_state);
+					main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_OFFBOARD, _status_flags, &_internal_state);
 				}
 
 			} else {
 				/* use base mode */
 				if (base_mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) {
 					/* AUTO */
-					main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags,
-									 &_internal_state);
+					main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags, &_internal_state);
 
 				} else if (base_mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) {
 					if (base_mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) {
@@ -888,8 +878,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 
 	case vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF: {
 			/* ok, home set, use it to take off */
-			if (TRANSITION_CHANGED == main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_TAKEOFF,
-					_status_flags,
+			if (TRANSITION_CHANGED == main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_TAKEOFF, _status_flags,
 					&_internal_state)) {
 				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 
@@ -940,8 +929,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 				if (PX4_ISFINITE(cmd.param1) && (cmd.param1 >= -1) && (cmd.param1 < _mission_result_sub.get().seq_total)) {
 
 					// switch to AUTO_MISSION and ARM
-					if ((TRANSITION_DENIED != main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION,
-							_status_flags,
+					if ((TRANSITION_DENIED != main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags,
 							&_internal_state))
 					    && (TRANSITION_DENIED != arm_disarm(true, true, arm_disarm_reason_t::MISSION_START))) {