vtol_type: enable pusher assist also in Descend mode

Signed-off-by: Silvan Fuhrer <[email protected]>
PX4 · Mar 6, 2024 · 471c3e0 · 471c3e0
1 parent 6f9a378
commit 471c3e0
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
@@ -494,10 +494,9 @@ float VtolType::pusher_assist()
 		break;
 	}
 
-	// if the thrust scale param is zero or the drone is not in some position or altitude control mode,
+	// if the thrust scale param is zero or the drone is not in a climb rate controlled mode,
 	// then the pusher-for-pitch strategy is disabled and we can return
-	if (_param_vt_fwd_thrust_sc.get() < FLT_EPSILON || !(_v_control_mode->flag_control_position_enabled
-			|| _v_control_mode->flag_control_altitude_enabled)) {
+	if (_param_vt_fwd_thrust_sc.get() < FLT_EPSILON || !(_v_control_mode->flag_control_climb_rate_enabled)) {
 		return 0.0f;
 	}