From 361770cbe855cd580641fd521c31333f45a5e0be Mon Sep 17 00:00:00 2001
From: Balduin <balduin@auterion.com>
Date: Mon, 26 Jan 2026 11:51:21 +0100
Subject: [PATCH] ControlAllocator: fix confusion between thrust and torque

---
 src/modules/control_allocator/ControlAllocator.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp
index 9241f1ac59..d8d52534e1 100644
--- a/src/modules/control_allocator/ControlAllocator.cpp
+++ b/src/modules/control_allocator/ControlAllocator.cpp
@@ -433,7 +433,7 @@ ControlAllocator::Run()
 			}
 
 			if (_vehicle_thrust_setpoint1_sub.copy(&vehicle_thrust_setpoint)) {
-				const Vector3f thrust_sp = battery_scale_torque_setpoint(vehicle_torque_setpoint, _battery_scaling_modes[1], _battery_scale);
+				const Vector3f thrust_sp = battery_scale_thrust_setpoint(vehicle_thrust_setpoint, _battery_scaling_modes[1], _battery_scale);
 				c[1](3) = thrust_sp(0);
 				c[1](4) = thrust_sp(1);
 				c[1](5) = thrust_sp(2);