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

@@ -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;

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
-        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"
-        default_value: OFF
-        field: general.flags.use_thr_mid_for_althold
-        type: bool
+      - name: nav_mc_althold_throttle
+        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: "STICK"
+        field: mc.althold_throttle_type
+        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

@@ -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;
         }
 

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,
@@ -179,6 +178,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .posDecelerationTime = SETTING_NAV_MC_POS_DECELERATION_TIME_DEFAULT,        // posDecelerationTime * 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
@@ -287,6 +292,7 @@ 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
+        uint8_t althold_throttle_type;          // throttle zero datum type for alt hold
     } mc;
 
     struct {

src/main/navigation/navigation_multicopter.c

@@ -177,18 +177,15 @@ 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) {
-        altHoldThrottleRCZero = rcLookupThrottleMid();
-    }
-    else {
-        // If throttle is LOW - use Thr Mid anyway
-        if (throttleIsLow) {
-            altHoldThrottleRCZero = rcLookupThrottleMid();
-        }
-        else {
+    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();
     }
 
     // Make sure we are able to satisfy the deadband