From ceb445caa010f2fb01fe92d878231b7d668ea890 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Thu, 11 Mar 2021 14:16:58 +0100
Subject: [PATCH] Run mc_pos_control for acceleration control mode flag

---
 src/modules/commander/Commander.cpp                       | 2 --
 src/modules/mc_pos_control/MulticopterPositionControl.cpp | 2 +-
 2 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index f3061e82a7..94e696d592 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -3336,8 +3336,6 @@ Commander::update_control_mode()
 		_vehicle_control_mode.flag_control_climb_rate_enabled = true;
 		_vehicle_control_mode.flag_control_position_enabled = !_status.in_transition_mode;
 		_vehicle_control_mode.flag_control_velocity_enabled = !_status.in_transition_mode;
-		_vehicle_control_mode.flag_control_acceleration_enabled = false;
-		_vehicle_control_mode.flag_control_termination_enabled = false;
 		break;
 
 	default:
diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
index 7d173f3cbb..d219c189ed 100644
--- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp
+++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
@@ -292,7 +292,7 @@ void MulticopterPositionControl::Run()
 
 		PositionControlStates states{set_vehicle_states(local_pos)};
 
-		if (_control_mode.flag_control_climb_rate_enabled) {
+		if (_control_mode.flag_control_acceleration_enabled || _control_mode.flag_control_climb_rate_enabled) {
 
 			_trajectory_setpoint_sub.update(&_setpoint);