From 0f1e7bae2c9ade0c47130092e45aa405e5d1df7e Mon Sep 17 00:00:00 2001
From: ctzsnooze <chris@th.id.au>
Date: Tue, 29 Oct 2024 08:49:00 +1100
Subject: [PATCH] warn if posHold mode requested but throttle not above airmode
 activation point

---
 src/main/fc/core.c          | 7 ++-----
 src/main/flight/autopilot.c | 5 +++++
 src/main/flight/pid.c       | 2 +-
 3 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/src/main/fc/core.c b/src/main/fc/core.c
index a93fc699c6..aa47df4bd3 100644
--- a/src/main/fc/core.c
+++ b/src/main/fc/core.c
@@ -1064,11 +1064,8 @@ void processRxModes(timeUs_t currentTimeUs)
         // and we have Acc for self-levelling
         && sensors(SENSOR_ACC)
         // Need Mag unless a BRAVE user tries it without
-        && (sensors(SENSOR_MAG) || allowPosHoldWithoutMag())
-        // and we have altitude data
-        && isAltitudeAvailable()
-        // prevent activation until after takeoff
-        && wasThrottleRaised()) {
+        && (sensors(SENSOR_MAG) || allowPosHoldWithoutMag()))
+    {
         if (!FLIGHT_MODE(POS_HOLD_MODE)) {
             ENABLE_FLIGHT_MODE(POS_HOLD_MODE);
             // this is just a 'request to initiate' the function
diff --git a/src/main/flight/autopilot.c b/src/main/flight/autopilot.c
index 2941f6640f..a68993c186 100644
--- a/src/main/flight/autopilot.c
+++ b/src/main/flight/autopilot.c
@@ -24,6 +24,7 @@
 #include "build/debug.h"
 #include "common/filter.h"
 #include "common/maths.h"
+#include "fc/core.h"
 #include "fc/rc.h"
 #include "fc/runtime_config.h"
 
@@ -218,6 +219,10 @@ bool positionControl(void) {
         ) {
         return false;
     }
+    
+    if (!wasThrottleRaised()) {
+        return false;
+    }
 
     if (isNewDataForPosHold()) {
         posHold.gpsDataIntervalS = getGpsDataIntervalSeconds(); // interval for current GPS data value 0.01s to 1.0s
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index e3c807b103..a34c3fe717 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -581,7 +581,7 @@ STATIC_UNIT_TESTED FAST_CODE_NOINLINE float pidLevel(int axis, const pidProfile_
     // earthRef code here takes about 76 cycles, if conditional on angleEarthRef it takes about 100.  sin_approx costs most of those cycles.
     float sinAngle = sin_approx(DEGREES_TO_RADIANS(pidRuntime.angleTarget[axis == FD_ROLL ? FD_PITCH : FD_ROLL]));
     sinAngle *= (axis == FD_ROLL) ? -1.0f : 1.0f; // must be negative for Roll
-    const float earthRefGain = FLIGHT_MODE(GPS_RESCUE_MODE | ALT_HOLD_MODE | POS_HOLD_MODE) ? 1.0f : pidRuntime.angleEarthRef;
+    const float earthRefGain = FLIGHT_MODE(GPS_RESCUE_MODE | ALT_HOLD_MODE ) ? 1.0f : pidRuntime.angleEarthRef;
     angleRate += pidRuntime.angleYawSetpoint * sinAngle * earthRefGain;
     pidRuntime.angleTarget[axis] = angleTarget;  // set target for alternate axis to current axis, for use in preceding calculation