From 8c49a40516add40a8c1c339f05c483a733934b9f Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Mon, 20 Oct 2025 23:01:17 +0300
Subject: [PATCH] Skip attitude/rate control if thrustTarget is ineffective To
 prevent i term windup.

---
 flix/control.ino | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/flix/control.ino b/flix/control.ino
index 40c1f21..4de742c 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -99,7 +99,7 @@ void interpretControls() {
 }
 
 void controlAttitude() {
-	if (!armed || attitudeTarget.invalid()) return; // skip attitude control
+	if (!armed || attitudeTarget.invalid() || thrustTarget < 0.1) return; // skip attitude control
 
 	const Vector up(0, 0, 1);
 	Vector upActual = Quaternion::rotateVector(up, attitude);
@@ -116,7 +116,7 @@ void controlAttitude() {
 
 
 void controlRates() {
-	if (!armed || ratesTarget.invalid()) return; // skip rates control
+	if (!armed || ratesTarget.invalid() || thrustTarget < 0.1) return; // skip rates control
 
 	Vector error = ratesTarget - rates;