tatus

[1mdiff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c[m
[1mindex 003a150..4a57e53 100644[m
[1m--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c[m
[1m+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c[m
[36m@@ -395,7 +395,7 @@[m [mstatic void stabilization_indi_calc_cmd(struct Int32Quat *att_err, bool rate_con[m
   g2_times_du = g2_times_du / INDI_G_SCALING;[m
 [m
   float v_thrust = 0.0;[m
[31m-  if (indi_thrust_increment_set) {[m
[32m+[m[32m  if (indi_thrust_increment_set*0) {[m
     v_thrust = indi_thrust_increment;[m
 [m
     //update thrust command such that the current is correctly estimated[m
[36m@@ -427,6 +427,8 @@[m [mstatic void stabilization_indi_calc_cmd(struct Int32Quat *att_err, bool rate_con[m
       v_thrust +=[m
         (stabilization_cmd[COMMAND_THRUST] - actuator_state_filt_vect[i]) * Bwls[3][i];[m
     }[m
[32m+[m
[32m+[m[32m    //printf("%d\n",stabilization_cmd[COMMAND_THRUST]);[m
   }[m
 [m
   // Calculate the min and max increments[m
[1mdiff --git a/sw/airborne/modules/guidance_primary_axis/guidance_primary_axis.c b/sw/airborne/modules/guidance_primary_axis/guidance_primary_axis.c[m
[1mindex 379492e..5345218 100644[m
[1m--- a/sw/airborne/modules/guidance_primary_axis/guidance_primary_axis.c[m
[1m+++ b/sw/airborne/modules/guidance_primary_axis/guidance_primary_axis.c[m
[36m@@ -64,7 +64,7 @@[m [mfloat guidance_pa_att_gain = GUIDANCE_PA_ATT_GAIN[m
 float guidance_pa_att_gain = -10.0;[m
 #endif[m
 [m
[31m-struct FloatVect3 n_pa = {0.0,0.0,-1.0};[m
[32m+[m[32mstruct FloatVect3 n_pa = {0.2,0.2,-1.0};[m
 struct FloatVect3 nd_i_state;[m
 struct FloatVect3 nd_i_state_dot_b = {0.0,0.0,0.0};[m
 struct FloatVect3 nd_i_state_dot_i = {0.0,0.0,0.0};[m