Multirotor Althold altitude adjustment fix #10664
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I'm thinking now that there's no reason to use rcCommand[THROTTLE] for the input for manual altitude RC adjustment. The throttle stick is just acting as a velocity demand not a throttle demand so it should be possible to just use the raw stick value from 1000 to 2000. The benefit being that you don't lose the stick movement below idle throttle as is the case now. I'll test and see how it works. |
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For 8.1, we need to target maintenance-8.x.x branch. |
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Closes #10660.
Fix to correctly limit max up and down vertical velocities during manual altitude adjustment.
Flight tested OK.