From 2b4af6635708be2248abf53edb65a9223fedcd6a Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Mon, 17 Feb 2014 23:58:13 +0400
Subject: [PATCH] mc_att_control: poll vehicle_rates_setpoint if attitude
 controller disabled

---
 src/modules/mc_att_control/mc_att_control_main.cpp | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index e92b7f3758..b5df83d859 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -761,10 +761,12 @@ MulticopterAttitudeControl::task_main()
 				}
 
 			} else {
-				/* attitude controller disabled */
-				// TODO poll 'attitude_rates_setpoint' topic
-				_rates_sp.zero();
-				_thrust_sp = 0.0f;
+				/* attitude controller disabled, poll rates setpoint topic */
+                vehicle_rates_setpoint_poll();
+                _rates_sp(0) = _v_rates_sp.roll;
+                _rates_sp(1) = _v_rates_sp.pitch;
+                _rates_sp(2) = _v_rates_sp.yaw;
+				_thrust_sp = _v_rates_sp.thrust;
 			}
 
 			if (_v_control_mode.flag_control_rates_enabled) {