first build

docs/Settings.md

@@ -3272,6 +3272,16 @@ Max allowed above the ground altitude for terrain following mode
 
 ---
 
+### nav_mc_althold_throttle
+
+If set to STICK the FC remembers the throttle stick position when enabling ALTHOLD and treats it as the neutral midpoint for holding altitude. If set to MID_STICK or HOVER the neutral midpoint is set to the mid stick position or the hover throttle position respectively.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| STICK |  |  |
+
+---
+
 ### nav_mc_bank_angle
 
 Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude
@@ -3742,16 +3752,6 @@ Enables or Disables the use of the heading PID controller on fixed wing. Heading
 
 ---
 
-### nav_use_midthr_for_althold
-
-If set to OFF, the FC remembers your throttle stick position when enabling ALTHOLD and treats it as a neutral midpoint for holding altitude
-
-| Default | Min | Max |
-| --- | --- | --- |
-| OFF | OFF | ON |
-
----
-
 ### nav_user_control_mode
 
 Defines how Pitch/Roll input from RC receiver affects flight in POSHOLD mode: ATTI - pitch/roll controls attitude like in ANGLE mode; CRUISE - pitch/roll controls velocity in forward and right direction.

src/main/cms/cms_menu_navigation.c

@@ -48,7 +48,7 @@ static const OSD_Entry cmsx_menuNavSettingsEntries[] =
     OSD_SETTING_ENTRY("MAX NAV CLIMB RATE", SETTING_NAV_AUTO_CLIMB_RATE),
     OSD_SETTING_ENTRY("MAX AH CLIMB RATE", SETTING_NAV_MANUAL_CLIMB_RATE),
     OSD_SETTING_ENTRY("MC MAX BANK ANGLE", SETTING_NAV_MC_BANK_ANGLE),
-    OSD_SETTING_ENTRY("MID THR FOR AH", SETTING_NAV_USE_MIDTHR_FOR_ALTHOLD),
+    OSD_SETTING_ENTRY("MC ALTHOLD THROT", SETTING_NAV_MC_ALTHOLD_THROTTLE),
     OSD_SETTING_ENTRY("MC HOVER THR", SETTING_NAV_MC_HOVER_THR),
     OSD_SETTING_ENTRY("LANDING DISARM", SETTING_NAV_DISARM_ON_LANDING),
 

src/main/fc/fc_msp.c

@@ -1058,7 +1058,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             legacyLedConfig |= ledConfig->led_function << shiftCount;
             shiftCount += 4;
             legacyLedConfig |= (ledConfig->led_overlay & 0x3F) << (shiftCount);
-            shiftCount += 6; 
+            shiftCount += 6;
             legacyLedConfig |= (ledConfig->led_color) << (shiftCount);
             shiftCount += 4;
             legacyLedConfig |= (ledConfig->led_direction) << (shiftCount);
@@ -1289,7 +1289,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU16(dst, navConfig()->general.max_manual_speed);
         sbufWriteU16(dst, navConfig()->general.max_manual_climb_rate);
         sbufWriteU8(dst, navConfig()->mc.max_bank_angle);
-        sbufWriteU8(dst, navConfig()->general.flags.use_thr_mid_for_althold);
+        sbufWriteU8(dst, navConfig()->mc.althold_throttle_type);
         sbufWriteU16(dst, currentBatteryProfile->nav.mc.hover_throttle);
         break;
 
@@ -2255,7 +2255,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             navConfigMutable()->general.max_manual_speed = sbufReadU16(src);
             navConfigMutable()->general.max_manual_climb_rate = sbufReadU16(src);
             navConfigMutable()->mc.max_bank_angle = sbufReadU8(src);
-            navConfigMutable()->general.flags.use_thr_mid_for_althold = sbufReadU8(src);
+            navConfigMutable()->mc.althold_throttle_type = sbufReadU8(src);
             currentBatteryProfileMutable->nav.mc.hover_throttle = sbufReadU16(src);
         } else
             return MSP_RESULT_ERROR;
@@ -2757,7 +2757,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             ledConfig->led_position = legacyConfig & 0xFF;
             ledConfig->led_function = (legacyConfig >> 8) & 0xF;
             ledConfig->led_overlay = (legacyConfig >> 12) & 0x3F;
-            ledConfig->led_color = (legacyConfig >> 18) & 0xF; 
+            ledConfig->led_color = (legacyConfig >> 18) & 0xF;
             ledConfig->led_direction = (legacyConfig >> 22) & 0x3F;
             ledConfig->led_params = (legacyConfig >> 28) & 0xF;
 
@@ -3482,7 +3482,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
 #ifdef USE_SIMULATOR
     case MSP_SIMULATOR:
 		tmp_u8 = sbufReadU8(src); // Get the Simulator MSP version
-        
+
         // Check the MSP version of simulator
 		if (tmp_u8 != SIMULATOR_MSP_VERSION) {
             break;
@@ -3508,7 +3508,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
                 // Review: Many states were affected. Reboot?
 
 				disarm(DISARM_SWITCH);  // Disarm to prevent motor output!!!
-			}   
+			}
         } else {
 			if (!ARMING_FLAG(SIMULATOR_MODE_HITL)) { // Just once
 #ifdef USE_BARO
@@ -3518,7 +3518,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
                     DISABLE_ARMING_FLAG(ARMING_DISABLED_HARDWARE_FAILURE);
 				    baroStartCalibration();
                 }
-#endif			
+#endif
 
 #ifdef USE_MAG
 				if (compassConfig()->mag_hardware != MAG_NONE) {
@@ -3578,7 +3578,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
 				} else {
 					sbufAdvance(src, sizeof(uint16_t) * XYZ_AXIS_COUNT);
 				}
-                
+
                 // Get the acceleration in 1G units
 				acc.accADCf[X] = ((int16_t)sbufReadU16(src)) / 1000.0f;
 				acc.accADCf[Y] = ((int16_t)sbufReadU16(src)) / 1000.0f;
@@ -3586,7 +3586,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
 				acc.accVibeSq[X] = 0.0f;
 				acc.accVibeSq[Y] = 0.0f;
 				acc.accVibeSq[Z] = 0.0f;
-                
+
                 // Get the angular velocity in DPS
 				gyro.gyroADCf[X] = ((int16_t)sbufReadU16(src)) / 16.0f;
 				gyro.gyroADCf[Y] = ((int16_t)sbufReadU16(src)) / 16.0f;
@@ -3621,7 +3621,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
                     simulatorData.airSpeed = sbufReadU16(src);
 			    } else {
                     if (SIMULATOR_HAS_OPTION(HITL_EXTENDED_FLAGS)) {
-                        sbufReadU16(src); 
+                        sbufReadU16(src);
                     }
                 }
 

src/main/fc/settings.yaml

@@ -190,6 +190,9 @@ tables:
   - name: nav_fw_wp_turn_smoothing
     values: ["OFF", "ON", "ON-CUT"]
     enum: wpFwTurnSmoothing_e
+  - name: nav_mc_althold_throttle
+    values: ["STICK", "MID_STICK", "HOVER"]
+    enum: navMcAltHoldThrottle_e
 
 constants:
   RPYL_PID_MIN: 0
@@ -2310,11 +2313,11 @@ groups:
         default_value: OFF
         field: general.flags.landing_bump_detection
         type: bool
-      - name: nav_use_midthr_for_althold
+      - name: nav_mc_althold_throttle
-        description: "If set to OFF, the FC remembers your throttle stick position when enabling ALTHOLD and treats it as a neutral midpoint for holding altitude"
+        description: "If set to STICK the FC remembers the throttle stick position when enabling ALTHOLD and treats it as the neutral midpoint for holding altitude. If set to MID_STICK or HOVER the neutral midpoint is set to the mid stick position or the hover throttle position respectively."
-        default_value: OFF
+        default_value: "STICK"
-        field: general.flags.use_thr_mid_for_althold
+        field: mc.althold_throttle_type
-        type: bool
+        table: nav_mc_althold_throttle
       - name: nav_extra_arming_safety
         description: "If set to ON drone won't arm if no GPS fix and any navigation mode like RTH or POSHOLD is configured. ALLOW_BYPASS allows the user to momentarily disable this check by holding yaw high (left stick held at the bottom right in mode 2) when switch arming is used"
         default_value: "ALLOW_BYPASS"

src/main/io/osd.c

@@ -542,7 +542,7 @@ void osdFormatAltitudeSymbol(char *buff, int32_t alt)
         buff[0] = ' ';
     }
 
-#ifndef DISABLE_MSP_BF_COMPAT   // IF BFCOMPAT is not supported, there's no need to check for it and change the values  
+#ifndef DISABLE_MSP_BF_COMPAT   // IF BFCOMPAT is not supported, there's no need to check for it and change the values
     if (isBfCompatibleVideoSystem(osdConfig())) {
         totalDigits++;
         digits++;
@@ -636,8 +636,8 @@ static inline void osdFormatFlyTime(char *buff, textAttributes_t *attr)
     }
 }
 
-/** 
+/**
- * Trim whitespace from string. 
+ * Trim whitespace from string.
  * Used in Stats screen on lines with multiple values.
 */
 char *osdFormatTrimWhiteSpace(char *buff)
@@ -648,7 +648,7 @@ char *osdFormatTrimWhiteSpace(char *buff)
     while(isspace((unsigned char)*buff)) buff++;
 
     // All spaces?
-    if(*buff == 0)  
+    if(*buff == 0)
     return buff;
 
     // Trim trailing spaces
@@ -1094,7 +1094,7 @@ void osdCrosshairPosition(uint8_t *x, uint8_t *y)
  * Check if this OSD layout is using scaled or unscaled throttle.
  * If both are used, it will default to scaled.
  */
-bool osdUsingScaledThrottle(void) 
+bool osdUsingScaledThrottle(void)
 {
     bool usingScaledThrottle = OSD_VISIBLE(osdLayoutsConfig()->item_pos[currentLayout][OSD_SCALED_THROTTLE_POS]);
     bool usingRCThrottle = OSD_VISIBLE(osdLayoutsConfig()->item_pos[currentLayout][OSD_THROTTLE_POS]);
@@ -2022,6 +2022,10 @@ static bool osdDrawSingleElement(uint8_t item)
 
                 TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
             }
+            if (STATE(MULTIROTOR) && posControl.flags.isAdjustingAltitude) {
+                TEXT_ATTRIBUTES_ADD_INVERTED(elemAttr);
+                TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
+            }
             break;
         }
 
@@ -2979,7 +2983,7 @@ static bool osdDrawSingleElement(uint8_t item)
                         tfp_sprintf(buff, "%s%c", buff, SYM_AH_MI);
                     }
                     if (!efficiencyValid) {
-                        buff[0] = buff[1] = buff[2] = buff[3] = '-';    
+                        buff[0] = buff[1] = buff[2] = buff[3] = '-';
                         buff[digits] = SYM_MAH_MI_0;        // This will overwrite the "-" at buff[3] if not in BFCOMPAT mode
                         buff[digits + 1] = SYM_MAH_MI_1;
                         buff[digits + 2] = '\0';
@@ -2993,7 +2997,7 @@ static bool osdDrawSingleElement(uint8_t item)
                         tfp_sprintf(buff, "%s%c", buff, SYM_AH_NM);
                     }
                     if (!efficiencyValid) {
-                        buff[0] = buff[1] = buff[2] = buff[3] = '-';    
+                        buff[0] = buff[1] = buff[2] = buff[3] = '-';
                         buff[digits] = SYM_MAH_NM_0;
                         buff[digits + 1] = SYM_MAH_NM_1;
                         buff[digits + 2] = '\0';
@@ -3009,7 +3013,7 @@ static bool osdDrawSingleElement(uint8_t item)
                         tfp_sprintf(buff, "%s%c", buff, SYM_AH_KM);
                     }
                     if (!efficiencyValid) {
-                        buff[0] = buff[1] = buff[2] = buff[3] = '-';    
+                        buff[0] = buff[1] = buff[2] = buff[3] = '-';
                         buff[digits] = SYM_MAH_KM_0;
                         buff[digits + 1] = SYM_MAH_KM_1;
                         buff[digits + 2] = '\0';
@@ -4094,7 +4098,7 @@ static void osdUpdateStats(void)
 static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
 {
     const char * disarmReasonStr[DISARM_REASON_COUNT] = { "UNKNOWN", "TIMEOUT", "STICKS", "SWITCH", "SWITCH", "KILLSW", "FAILSAFE", "NAV SYS", "LANDING"};
-    uint8_t top = 1;  // Start one line down leaving space at the top of the screen. 
+    uint8_t top = 1;  // Start one line down leaving space at the top of the screen.
     size_t multiValueLengthOffset = 0;
 
     const uint8_t statNameX = osdDisplayIsHD() ? 11 : 1;
@@ -4116,14 +4120,14 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
     }
 
     if (isSinglePageStatsCompatible || page == 0) {
-        if (feature(FEATURE_GPS)) {            
+        if (feature(FEATURE_GPS)) {
             if (isSinglePageStatsCompatible) {
                 displayWrite(osdDisplayPort, statNameX, top, "MAX/AVG SPEED    :");
                 osdFormatVelocityStr(buff, stats.max_3D_speed, true, false);
                 osdLeftAlignString(buff);
                 strcat(osdFormatTrimWhiteSpace(buff),"/");
                 multiValueLengthOffset = strlen(buff);
-                displayWrite(osdDisplayPort, statValuesX, top, buff);            
+                displayWrite(osdDisplayPort, statValuesX, top, buff);
                 osdGenerateAverageVelocityStr(buff);
                 osdLeftAlignString(buff);
                 displayWrite(osdDisplayPort, statValuesX + multiValueLengthOffset, top++, buff);
@@ -4160,7 +4164,7 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
                     osdLeftAlignString(buff);
                     strcat(osdFormatTrimWhiteSpace(buff), "%/");
                     multiValueLengthOffset = strlen(buff);
-                    displayWrite(osdDisplayPort, statValuesX, top, buff);                
+                    displayWrite(osdDisplayPort, statValuesX, top, buff);
                     itoa(stats.min_rssi_dbm, buff, 10);
                     tfp_sprintf(buff, "%s%c", buff, SYM_DBM);
                     osdLeftAlignString(buff);
@@ -4175,7 +4179,7 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
                     itoa(stats.min_rssi_dbm, buff, 10);
                     tfp_sprintf(buff, "%s%c", buff, SYM_DBM);
                     displayWrite(osdDisplayPort, statValuesX, top++, buff);
-                } 
+                }
 
                 displayWrite(osdDisplayPort, statNameX, top, "MIN LQ           :");
                 itoa(stats.min_lq, buff, 10);
@@ -4201,7 +4205,7 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
         displayWrite(osdDisplayPort, statNameX, top, "DISARMED BY      :");
         displayWrite(osdDisplayPort, statValuesX, top++, disarmReasonStr[getDisarmReason()]);
     }
-    
+
     if (isSinglePageStatsCompatible || page == 1) {
         if (osdConfig()->stats_min_voltage_unit == OSD_STATS_MIN_VOLTAGE_UNIT_BATTERY) {
             displayWrite(osdDisplayPort, statNameX, top, "MIN BATTERY VOLT :");
@@ -4323,20 +4327,20 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
             }
         }
 
-        const float max_gforce = accGetMeasuredMaxG();    
+        const float max_gforce = accGetMeasuredMaxG();
         displayWrite(osdDisplayPort, statNameX, top, "MAX G-FORCE      :");
         osdFormatCentiNumber(buff, max_gforce * 100, 0, 2, 0, 3);
         displayWrite(osdDisplayPort, statValuesX, top++, buff);
 
-        const acc_extremes_t *acc_extremes = accGetMeasuredExtremes();        
+        const acc_extremes_t *acc_extremes = accGetMeasuredExtremes();
         const float acc_extremes_min = acc_extremes[Z].min;
         const float acc_extremes_max = acc_extremes[Z].max;
         displayWrite(osdDisplayPort, statNameX, top, "MIN/MAX Z G-FORCE:");
         osdFormatCentiNumber(buff, acc_extremes_min * 100, 0, 2, 0, 4);
         osdLeftAlignString(buff);
-        strcat(osdFormatTrimWhiteSpace(buff),"/"); 
+        strcat(osdFormatTrimWhiteSpace(buff),"/");
-        multiValueLengthOffset = strlen(buff);        
+        multiValueLengthOffset = strlen(buff);
-        displayWrite(osdDisplayPort, statValuesX, top, buff);        
+        displayWrite(osdDisplayPort, statValuesX, top, buff);
         osdFormatCentiNumber(buff, acc_extremes_max * 100, 0, 2, 0, 3);
         osdLeftAlignString(buff);
         displayWrite(osdDisplayPort, statValuesX + multiValueLengthOffset, top++, buff);
@@ -4546,41 +4550,41 @@ static void osdRefresh(timeUs_t currentTimeUs)
             statsCurrentPage = 0;
             statsAutoPagingEnabled = osdConfig()->stats_page_auto_swap_time > 0 ? true : false;
             osdShowStats(statsSinglePageCompatible, statsCurrentPage);
-            osdSetNextRefreshIn(STATS_SCREEN_DISPLAY_TIME);            
+            osdSetNextRefreshIn(STATS_SCREEN_DISPLAY_TIME);
         }
 
         armState = ARMING_FLAG(ARMED);
     }
 
     // This block is entered when we're showing the "Splash", "Armed" or "Stats" screens
-    if (resumeRefreshAt) {   
+    if (resumeRefreshAt) {
-                                
+
         // Handle events only when the "Stats" screen is being displayed.
         if (statsDisplayed) {
 
              // Manual paging stick commands are only applicable to multi-page stats.
              // ******************************
-             // For single-page stats, this effectively disables the ability to cancel the 
+             // For single-page stats, this effectively disables the ability to cancel the
              // automatic paging/updates with the stick commands. So unless stats_page_auto_swap_time
-             // is set to 0 or greater than 4 (saved settings display interval is 5 seconds), then 
+             // is set to 0 or greater than 4 (saved settings display interval is 5 seconds), then
-             // "Saved Settings" should display if it is active within the refresh interval. 
+             // "Saved Settings" should display if it is active within the refresh interval.
              // ******************************
              // With multi-page stats, "Saved Settings" could also be missed if the user
-             // has canceled automatic paging using the stick commands, because that is only 
+             // has canceled automatic paging using the stick commands, because that is only
-             // updated when osdShowStats() is called. So, in that case, they would only see 
+             // updated when osdShowStats() is called. So, in that case, they would only see
-             // the "Saved Settings" message if they happen to manually change pages using the 
+             // the "Saved Settings" message if they happen to manually change pages using the
-             // stick commands within the interval the message is displayed. 
+             // stick commands within the interval the message is displayed.
             bool manualPageUpRequested = false;
-            bool manualPageDownRequested = false;       
+            bool manualPageDownRequested = false;
             if (!statsSinglePageCompatible) {
                 // These methods ensure the paging stick commands are held for a brief period
-                // Otherwise it can result in a race condition where the stats are 
+                // Otherwise it can result in a race condition where the stats are
-                // updated too quickly and can result in partial blanks, etc. 
+                // updated too quickly and can result in partial blanks, etc.
-                if (osdIsPageUpStickCommandHeld()) {               
+                if (osdIsPageUpStickCommandHeld()) {
                     manualPageUpRequested = true;
                     statsAutoPagingEnabled = false;
                 } else if (osdIsPageDownStickCommandHeld()) {
-                    manualPageDownRequested = true;                
+                    manualPageDownRequested = true;
                     statsAutoPagingEnabled = false;
                 }
             }
@@ -4603,7 +4607,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
                 // Process manual page change events for multi-page stats.
                 if (manualPageUpRequested) {
                     osdShowStats(statsSinglePageCompatible, 1);
-                    statsCurrentPage = 1;                   
+                    statsCurrentPage = 1;
                 } else if (manualPageDownRequested) {
                     osdShowStats(statsSinglePageCompatible, 0);
                     statsCurrentPage = 0;
@@ -4612,7 +4616,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
         }
 
         // Handle events when either "Splash", "Armed" or "Stats" screens are displayed.
-        if ((currentTimeUs > resumeRefreshAt) || OSD_RESUME_UPDATES_STICK_COMMAND) { 
+        if ((currentTimeUs > resumeRefreshAt) || OSD_RESUME_UPDATES_STICK_COMMAND) {
             // Time elapsed or canceled by stick commands.
             // Exit to normal OSD operation.
             displayClearScreen(osdDisplayPort);
@@ -4622,7 +4626,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
             // Continue "Splash", "Armed" or "Stats" screens.
             displayHeartbeat(osdDisplayPort);
         }
-        
+
         return;
     }
 

src/main/navigation/navigation.c

@@ -107,7 +107,6 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
     .general = {
 
         .flags = {
-            .use_thr_mid_for_althold = SETTING_NAV_USE_MIDTHR_FOR_ALTHOLD_DEFAULT,
             .extra_arming_safety = SETTING_NAV_EXTRA_ARMING_SAFETY_DEFAULT,
             .user_control_mode = SETTING_NAV_USER_CONTROL_MODE_DEFAULT,
             .rth_alt_control_mode = SETTING_NAV_RTH_ALT_MODE_DEFAULT,
@@ -176,9 +175,10 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .braking_bank_angle = SETTING_NAV_MC_BRAKING_BANK_ANGLE_DEFAULT,                        // Max braking angle
 #endif
 
-        .posDecelerationTime = SETTING_NAV_MC_POS_DECELERATION_TIME_DEFAULT,          // posDecelerationTime * 100
+        .posDecelerationTime = SETTING_NAV_MC_POS_DECELERATION_TIME_DEFAULT,        // posDecelerationTime * 100
-        .posResponseExpo = SETTING_NAV_MC_POS_EXPO_DEFAULT,                           // posResponseExpo * 100
+        .posResponseExpo = SETTING_NAV_MC_POS_EXPO_DEFAULT,                         // posResponseExpo * 100
         .slowDownForTurning = SETTING_NAV_MC_WP_SLOWDOWN_DEFAULT,
+        .althold_throttle_type = SETTING_NAV_MC_ALTHOLD_THROTTLE_DEFAULT,           // STICK
     },
 
     // Fixed wing

src/main/navigation/navigation.h

@@ -175,6 +175,12 @@ typedef enum {
     WP_TURN_SMOOTHING_CUT,
 } wpFwTurnSmoothing_e;
 
+typedef enum {
+    MC_ALT_HOLD_STICK,
+    MC_ALT_HOLD_MID,
+    MC_ALT_HOLD_HOVER,
+} navMcAltHoldThrottle_e;
+
 typedef struct positionEstimationConfig_s {
     uint8_t automatic_mag_declination;
     uint8_t reset_altitude_type; // from nav_reset_type_e
@@ -217,7 +223,6 @@ typedef struct navConfig_s {
 
     struct {
         struct {
-            uint8_t use_thr_mid_for_althold;        // Don't remember throttle when althold was initiated, assume that throttle is at Thr Mid = zero climb rate
             uint8_t extra_arming_safety;            // from navExtraArmingSafety_e
             uint8_t user_control_mode;              // NAV_GPS_ATTI or NAV_GPS_CRUISE
             uint8_t rth_alt_control_mode;           // Controls the logic for choosing the RTH altitude
@@ -286,7 +291,8 @@ typedef struct navConfig_s {
 
         uint8_t posDecelerationTime;            // Brake time parameter
         uint8_t posResponseExpo;                // Position controller expo (taret vel expo for MC)
-        bool slowDownForTurning;             // Slow down during WP missions when changing heading on next waypoint
+        bool slowDownForTurning;                // Slow down during WP missions when changing heading on next waypoint
+        uint8_t althold_throttle_type;          // throttle zero datum type for alt hold
     } mc;
 
     struct {

src/main/navigation/navigation_multicopter.c

@@ -177,19 +177,16 @@ bool adjustMulticopterAltitudeFromRCInput(void)
 void setupMulticopterAltitudeController(void)
 {
     const bool throttleIsLow = throttleStickIsLow();
+    const uint8_t throttleType = navConfig()->mc.althold_throttle_type;
 
-    if (navConfig()->general.flags.use_thr_mid_for_althold) {
+    if (throttleType == MC_ALT_HOLD_STICK && !throttleIsLow) {
+        // Only use current throttle if not LOW - use Thr Mid otherwise
+        altHoldThrottleRCZero = rcCommand[THROTTLE];
+    } else if (throttleType == MC_ALT_HOLD_HOVER) {
+        altHoldThrottleRCZero = currentBatteryProfile->nav.mc.hover_throttle;
+    } else {
         altHoldThrottleRCZero = rcLookupThrottleMid();
     }
-    else {
-        // If throttle is LOW - use Thr Mid anyway
-        if (throttleIsLow) {
-            altHoldThrottleRCZero = rcLookupThrottleMid();
-        }
-        else {
-            altHoldThrottleRCZero = rcCommand[THROTTLE];
-        }
-    }
 
     // Make sure we are able to satisfy the deadband
     altHoldThrottleRCZero = constrain(altHoldThrottleRCZero,