Is altitude ever sacrificed for attitude control?

PX4 Autopilot Multicopter 🛸
1

Hi,

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.

2

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.