From a81f11acddeb9261b3cc1ce0a64821cb04040e40 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Mon, 29 Nov 2021 13:52:51 +0100
Subject: [PATCH] mc_rate_control: don't publish thrust + torque sp if vtol

---
 src/modules/mc_rate_control/MulticopterRateControl.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/modules/mc_rate_control/MulticopterRateControl.cpp b/src/modules/mc_rate_control/MulticopterRateControl.cpp
index c282099846..0087d1eef7 100644
--- a/src/modules/mc_rate_control/MulticopterRateControl.cpp
+++ b/src/modules/mc_rate_control/MulticopterRateControl.cpp
@@ -256,8 +256,10 @@ MulticopterRateControl::Run()
 			actuators.control[actuator_controls_s::INDEX_LANDING_GEAR] = _landing_gear;
 			actuators.timestamp_sample = angular_velocity.timestamp_sample;
 
-			publishTorqueSetpoint(att_control, angular_velocity.timestamp_sample);
-			publishThrustSetpoint(angular_velocity.timestamp_sample);
+			if (!_vehicle_status.is_vtol) {
+				publishTorqueSetpoint(att_control, angular_velocity.timestamp_sample);
+				publishThrustSetpoint(angular_velocity.timestamp_sample);
+			}
 
 			// scale effort by battery status if enabled
 			if (_param_mc_bat_scale_en.get()) {