mc_att_control: att rate integral fix

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -654,8 +654,9 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
 	_rates_prev = rates;
 
 	/* update integral only if not saturated on low limit */
-	if (_thrust_sp > 0.1f && _att_control.length() < _thrust_sp) {
+	if (_thrust_sp > 0.1f) {
 		for (int i = 0; i < 3; i++) {
+			if (fabsf(_att_control(i)) < _thrust_sp) {
 				float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt;
 
 				if (isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
@@ -665,6 +666,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
 			}
 		}
 	}
+}
 
 void
 MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[])