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This commit is contained in:
breadoven 2023-08-05 22:28:12 +01:00
parent fd59159f71
commit 6eb19f2135
8 changed files with 88 additions and 78 deletions
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20
docs/Settings.md
View file

@ -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.

2
src/main/cms/cms_menu_navigation.c
View file

@ -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),

20
src/main/fc/fc_msp.c
View file

@ -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);
}
}

13
src/main/fc/settings.yaml
View file

@ -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"

78
src/main/io/osd.c
View file

@ -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),"/");
multiValueLengthOffset = strlen(buff);
displayWrite(osdDisplayPort, statValuesX, top, buff);
strcat(osdFormatTrimWhiteSpace(buff),"/");
multiValueLengthOffset = strlen(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
// "Saved Settings" should display if it is active within the refresh interval.
// 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.
// ******************************
// 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
// 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
// stick commands within the interval the message is displayed.
// 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
// the "Saved Settings" message if they happen to manually change pages using the
// 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
// updated too quickly and can result in partial blanks, etc.
if (osdIsPageUpStickCommandHeld()) {
// Otherwise it can result in a race condition where the stats are
// updated too quickly and can result in partial blanks, etc.
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;
}

6
src/main/navigation/navigation.c
View file

@ -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
.posResponseExpo = SETTING_NAV_MC_POS_EXPO_DEFAULT, // posResponseExpo * 100
.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

10
src/main/navigation/navigation.h
View file

@ -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 {

17
src/main/navigation/navigation_multicopter.c
View file

@ -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,