From 03c81a8948734c7f48c63a343fd90e7b3314b093 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis.mannhart@gmail.com>
Date: Wed, 20 Dec 2017 17:31:18 +0100
Subject: [PATCH] ControlMath: never saturate in xy when vector is below
 minimum

---
 src/modules/mc_pos_control/Utility/ControlMath.cpp | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/src/modules/mc_pos_control/Utility/ControlMath.cpp b/src/modules/mc_pos_control/Utility/ControlMath.cpp
index c8012c898c..58ba98df13 100644
--- a/src/modules/mc_pos_control/Utility/ControlMath.cpp
+++ b/src/modules/mc_pos_control/Utility/ControlMath.cpp
@@ -139,11 +139,8 @@ void constrainPIDu(matrix::Vector3f &u, bool sat[2], const float Ulimits[2], con
 	} else if (u.length() <= Ulimits[1]) {
 		/* The desired u is below minimum */
 
-		/* Maximum mag in xy is always reached
-		 * if desired u_z is below minimum */
-		sat[0] = true;
+		/* Check if z or xy are saturated */
 
-		/* Check if altitude is saturated */
 		if (d[1] <= 0.0f) {
 			sat[1] = true;
 		}