Is altitude ever sacrificed for attitude control?


In PX4 is altitude ever sacrificed for attitude control? e.g. under any circumstances does the flight controller ever willingly start dropping in order to try to maintain attitude?

edit: if it makes it any easier, im only interested in the Altitude Control mode.

Found this:

If mixing becomes saturated towards the upper bound the commanded thrust is reduced to ensure that no motor is commanded to deliver more than 100% thrust. This behaviour is similar to the Airmode logic, and is applied whether Airmode is enabled or disabled.

This seems to imply that if MPC_THR_HOVER is greater than 0.5, then 100% attitude output will reduce the commanded thrust, and the vehicle can drop.