From d7b89a2e4a217780a90cee65b3d8cb11a81c9856 Mon Sep 17 00:00:00 2001
From: Huizerd <15855769+Huizerd@users.noreply.github.com>
Date: Thu, 16 Dec 2021 13:15:52 +0100
Subject: [PATCH] [dynamics] clamp with collective thrust

---
 flightlib/src/dynamics/quadrotor_dynamics.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/flightlib/src/dynamics/quadrotor_dynamics.cpp b/flightlib/src/dynamics/quadrotor_dynamics.cpp
index 7a0ca96d8f..394e2ffba1 100644
--- a/flightlib/src/dynamics/quadrotor_dynamics.cpp
+++ b/flightlib/src/dynamics/quadrotor_dynamics.cpp
@@ -92,7 +92,7 @@ Vector<4> QuadrotorDynamics::clampThrust(const Vector<4> thrusts) const {
 }
 
 Scalar QuadrotorDynamics::clampThrust(const Scalar thrust) const {
-  return std::clamp(thrust, thrust_min_, thrust_max_);
+  return std::clamp(thrust, collective_thrust_min() / mass_, collective_thrust_max() / mass_);
 }
 
 Vector<4> QuadrotorDynamics::clampMotorOmega(const Vector<4>& omega) const {