mc_att_control: fix for Rattitude mode

When switching back from rate to attitude control, the code depended on a
vehicle_control_mode topics update, but the publication frequency of that
is low. So the switch was noticeably delayed.

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -876,13 +876,12 @@ MulticopterAttitudeControl::run()
 			attitude_dt += dt;
 
 			/* Check if we are in rattitude mode and the pilot is above the threshold on pitch
-			 * or roll (yaw can rotate 360 in normal att control).  If both are true don't
+			 * or roll (yaw can rotate 360 in normal att control). If both are true don't
 			 * even bother running the attitude controllers */
 			if (_v_control_mode.flag_control_rattitude_enabled) {
-				if (fabsf(_manual_control_sp.y) > _rattitude_thres.get() ||
-				    fabsf(_manual_control_sp.x) > _rattitude_thres.get()) {
-					_v_control_mode.flag_control_attitude_enabled = false;
-				}
+				_v_control_mode.flag_control_attitude_enabled =
+						fabsf(_manual_control_sp.y) <= _rattitude_thres.get() &&
+						fabsf(_manual_control_sp.x) <= _rattitude_thres.get();
 			}
 
 			bool attitude_setpoint_generated = false;