fw_att_control: in acro use thrust from rate setpoint topic

Signed-off-by: Roman <[email protected]>

src/modules/fw_att_control/FixedwingAttitudeControl.cpp

@@ -613,7 +613,6 @@ void FixedwingAttitudeControl::run()
 				float roll_sp = _att_sp.roll_body;
 				float pitch_sp = _att_sp.pitch_body;
 				float yaw_sp = _att_sp.yaw_body;
-				float throttle_sp = _att_sp.thrust;
 
 				/* Prepare data for attitude controllers */
 				struct ECL_ControlData control_input = {};
@@ -708,8 +707,8 @@ void FixedwingAttitudeControl::run()
 						}
 
 						/* throttle passed through if it is finite and if no engine failure was detected */
-						_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(throttle_sp)
-								&& !_vehicle_status.engine_failure) ? throttle_sp : 0.0f;
+						_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(_att_sp.thrust)
+								&& !_vehicle_status.engine_failure) ? _att_sp.thrust : 0.0f;
 
 						/* scale effort by battery status */
 						if (_parameters.bat_scale_en &&
@@ -772,7 +771,7 @@ void FixedwingAttitudeControl::run()
 					_actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw :
 							_parameters.trim_yaw;
 
-					_actuators.control[actuator_controls_s::INDEX_THROTTLE] = PX4_ISFINITE(throttle_sp) ? throttle_sp : 0.0f;
+					_actuators.control[actuator_controls_s::INDEX_THROTTLE] = PX4_ISFINITE(_rates_sp.thrust) ? _rates_sp.thrust : 0.0f;
 				}
 
 				rate_ctrl_status_s rate_ctrl_status;