From 4c4bcc5fdbc17ca1a29877839f8c529cb1be20f8 Mon Sep 17 00:00:00 2001
From: JaeyoungLim <jalim@student.ethz.ch>
Date: Thu, 20 Jun 2019 17:17:32 +0200
Subject: [PATCH] Mavlink: Fill in thrust field correctly for offboard rates
 setpoints on fixed wing (#12311)

* Fill in thrust field for rates sp
---
 src/modules/mavlink/mavlink_receiver.cpp | 22 +++++++++++++++++++++-
 1 file changed, 21 insertions(+), 1 deletion(-)

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index f58e8c1eb9..1248afb84a 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1419,7 +1419,27 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 					}
 
 					if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
-						rates_sp.thrust_body[2] = -set_attitude_target.thrust;
+						switch (_mavlink->get_system_type()) {
+						case MAV_TYPE_GENERIC:
+							break;
+
+						case MAV_TYPE_FIXED_WING:
+							rates_sp.thrust_body[0] = set_attitude_target.thrust;
+							break;
+
+						case MAV_TYPE_QUADROTOR:
+						case MAV_TYPE_HEXAROTOR:
+						case MAV_TYPE_OCTOROTOR:
+						case MAV_TYPE_TRICOPTER:
+						case MAV_TYPE_HELICOPTER:
+							rates_sp.thrust_body[2] = -set_attitude_target.thrust;
+							break;
+
+						case MAV_TYPE_GROUND_ROVER:
+							rates_sp.thrust_body[0] = set_attitude_target.thrust;
+							break;
+						}
+
 					}
 
 					if (_rates_sp_pub == nullptr) {