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Multirotor Althold altitude adjustment fix #10664

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Multirotor Althold altitude adjustment fix #10664

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78e84f9
Merge maintenance-8.x.x fixes into master
mmosca Jan 28, 2025
03efa41
s/\t/ /g
mmosca Jan 29, 2025
7939616
mc alt hold fix
breadoven Feb 1, 2025
f88f25c
Update navigation_multicopter.c
breadoven Feb 1, 2025
9f0ad97
Update CMakeLists.txt
breadoven Feb 10, 2025
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2 changes: 1 addition & 1 deletion docs/OSD.md
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@ Not all OSDs are created equally. This table shows the differences between the d
| DJI WTFOS | 60 x 22 | X | | X | YES |
| HDZero | 50 x 18 | X | | X | YES |
| Avatar | 53 x 20 | X | | X | YES |
| DJI O3 | 53 x 20 (HD) | X | | X (partial) | NO - BF Characters only |
| DJI O3 | 53 x 20 (HD) | X | | X (partial) | NO - BF Characters only |

## OSD Elements
Here are the OSD Elements provided by INAV.
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17 changes: 6 additions & 11 deletions src/main/navigation/navigation_multicopter.c
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Expand Up @@ -140,19 +140,14 @@ bool adjustMulticopterAltitudeFromRCInput(void)
const int16_t rcThrottleAdjustment = applyDeadbandRescaled(rcCommand[THROTTLE] - altHoldThrottleRCZero, rcControlsConfig()->alt_hold_deadband, -500, 500);

if (rcThrottleAdjustment) {
// set velocity proportional to stick movement
float rcClimbRate;
/* Set velocity proportional to stick movement
* Scale from altHoldThrottleRCZero to maxthrottle or minthrottle to altHoldThrottleRCZero */

// Make sure we can satisfy max_manual_climb_rate in both up and down directions
if (rcThrottleAdjustment > 0) {
// Scaling from altHoldThrottleRCZero to maxthrottle
rcClimbRate = rcThrottleAdjustment * navConfig()->mc.max_manual_climb_rate / (float)(getMaxThrottle() - altHoldThrottleRCZero - rcControlsConfig()->alt_hold_deadband);
}
else {
// Scaling from minthrottle to altHoldThrottleRCZero
rcClimbRate = rcThrottleAdjustment * navConfig()->mc.max_manual_climb_rate / (float)(altHoldThrottleRCZero - getThrottleIdleValue() - rcControlsConfig()->alt_hold_deadband);
}
// Calculate max up or min down limit value scaled for deadband
int16_t limitValue = rcThrottleAdjustment > 0 ? getMaxThrottle() : getThrottleIdleValue();
limitValue = applyDeadbandRescaled(limitValue - altHoldThrottleRCZero, rcControlsConfig()->alt_hold_deadband, -500, 500);

int16_t rcClimbRate = ABS(rcThrottleAdjustment) * navConfig()->mc.max_manual_climb_rate / limitValue;
updateClimbRateToAltitudeController(rcClimbRate, 0, ROC_TO_ALT_CONSTANT);

return true;
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