pulled from PX4 master

1 files changed, 15 insertions, 5 deletions

diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index 5cff390e2..80b58ec71 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -721,8 +721,14 @@ void FixedwingAttitudeControl::task_main() {
 				float pitch_sp = _parameters.pitchsp_offset_rad;
 				float throttle_sp = 0.0f;
 
-				if (_vcontrol_mode.flag_control_velocity_enabled
-						|| _vcontrol_mode.flag_control_position_enabled) {
+				/* Read attitude setpoint from uorb if
+				 * - velocity control or position control is enabled (pos controller is running)
+				 * - manual control is disabled (another app may send the setpoint, but it should
+				 *   for sure not be set from the remote control values)
+				 */
+				if (_vcontrol_mode.flag_control_velocity_enabled ||
+						_vcontrol_mode.flag_control_position_enabled ||
+						!_vcontrol_mode.flag_control_manual_enabled) {
 					/* read in attitude setpoint from attitude setpoint uorb topic */
 					roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
 					pitch_sp = _att_sp.pitch_body
@@ -890,9 +896,13 @@ void FixedwingAttitudeControl::task_main() {
 						}
 					}
 
-					/* throttle passed through */
-					_actuators.control[3] =
-							(isfinite(throttle_sp)) ? throttle_sp : 0.0f;
+
+					/* throttle passed through if it is finite and if no engine failure was
+					 * detected */
+					_actuators.control[3] = (isfinite(throttle_sp) &&
+							!(_vehicle_status.engine_failure ||
+								_vehicle_status.engine_failure_cmd)) ?
+						throttle_sp : 0.0f;
 					if (!isfinite(throttle_sp)) {
 						if (_debug && loop_counter % 10 == 0) {
 							warnx("throttle_sp %.4f", (double) throttle_sp);