From 0bdd780bddc0f2bd01d76e29059f2393e0f8a1c2 Mon Sep 17 00:00:00 2001
From: Jaeyoung Lim <jalim@ethz.ch>
Date: Fri, 24 Feb 2023 08:17:27 +0100
Subject: [PATCH] Set feedforward heightrate setpoint in offboard mode

---
 src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index 84e1b3017b..c1f150b885 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -1194,7 +1194,9 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co
 				   tecs_fw_thr_max,
 				   false,
 				   radians(_param_fw_p_lim_min.get()),
-				   _param_sinkrate_target.get());
+				   _param_sinkrate_target.get(),
+				   false,
+				   pos_sp_curr.vz);
 }
 
 void