diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index 312ccc7734..85f48dfcf8 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -361,7 +361,8 @@ void Standard::update_mc_state() // desired roll angle in heading frame stays the same float roll_new = -atan2f(body_z_sp(1), body_z_sp(2)); - _pusher_throttle = (sinf(-pitch_forward) - sinf(_params_standard.down_pitch_max)) * _v_att_sp->thrust; + _pusher_throttle = (sinf(-pitch_forward) - sinf(_params_standard.down_pitch_max)) + * _v_att_sp->thrust * _params_standard.forward_thrust_scale; // limit desired pitch float pitch_new = -_params_standard.down_pitch_max;