From cb09dde606861b90e38b1682eebd3fd91be17ab7 Mon Sep 17 00:00:00 2001
From: Konrad <konrad@auterion.com>
Date: Tue, 13 Feb 2024 10:02:07 +0100
Subject: [PATCH] FixedwingPositionControl: Used corrected npfg roll output in
 path mode

---
 src/modules/fw_pos_control/FixedwingPositionControl.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp
index eaaf5bf5cc..8b79e1ee4d 100644
--- a/src/modules/fw_pos_control/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control/FixedwingPositionControl.cpp
@@ -1388,7 +1388,7 @@ FixedwingPositionControl::control_auto_path(const float control_interval, const
 				0.0f;
 	navigatePathTangent(curr_pos_local, curr_wp_local, velocity_2d.normalized(), ground_speed, _wind_vel, curvature);
 
-	_att_sp.roll_body = _npfg.getRollSetpoint();
+	_att_sp.roll_body = getCorrectedNpfgRollSetpoint();
 	target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
 
 	_att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw