remove behavior alteration for roll and pitch

src/lib/mixer_module/params.c

@@ -30,6 +30,7 @@ PARAM_DEFINE_INT32(MC_AIRMODE, 0);
  *
  * If false, Z-thrust is never sacrificed for yaw actuation.
  * If true, default behavior. Z-thrust is reduced to make room yaw actuation when saturated.
+ * Only applies when airmode is disabled.
  *
  * @boolean
  * @group Mixer Output

src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.cpp

@@ -192,10 +192,8 @@ ControlAllocationSequentialDesaturation::mixAirmodeDisabled()
 		pitch(i) = _mix(i, ControlAxis::PITCH);
 	}
 
-	if (_param_mc_reduce_thrust.get()) {
-		// only reduce thrust
-		desaturateActuators(_actuator_sp, thrust_z, true);
-	}
+	// only reduce thrust
+	desaturateActuators(_actuator_sp, thrust_z, true);
 
 	// Reduce roll/pitch acceleration if needed to unsaturate
 	desaturateActuators(_actuator_sp, roll);

src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.hpp

@@ -120,7 +120,6 @@ class ControlAllocationSequentialDesaturation: public ControlAllocationPseudoInv
 	 * Desaturation behavior: no airmode, thrust is NEVER increased to meet the demanded
 	 * roll/pitch/yaw. Instead roll/pitch/yaw is reduced as much as needed.
 	 * Thrust can be reduced to unsaturate the upper side.
-	 *
 	 * @see mixYaw() for the exact yaw behavior.
 	 */
 	void mixAirmodeDisabled();
@@ -140,7 +139,7 @@ class ControlAllocationSequentialDesaturation: public ControlAllocationPseudoInv
 
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode,  ///< air-mode
-		// If false, thrust is never reduced to increase attitude control,
+		// If false, thrust is never sacrificed for yaw actuation,
 		// and MINIMUM_YAW_MARGIN has no effect.
 		// Only applies when airmode is disabled.
 		(ParamBool<px4::params::MC_REDUCE_THRUST>) _param_mc_reduce_thrust