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Multicopter althold altitude adjustment manual climb rate fix #11359

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Multicopter althold altitude adjustment manual climb rate fix #11359

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10 changes: 5 additions & 5 deletions src/main/navigation/navigation_multicopter.c
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Original file line number Diff line number Diff line change
Expand Up @@ -137,17 +137,17 @@ bool adjustMulticopterAltitudeFromRCInput(void)
return true;
}
else {
const int16_t rcThrottleAdjustment = applyDeadbandRescaled(rcCommand[THROTTLE] - altHoldThrottleRCZero, rcControlsConfig()->alt_hold_deadband, -500, 500);
const uint8_t deadband = rcControlsConfig()->alt_hold_deadband;
const int16_t rcThrottleAdjustment = applyDeadband(rcCommand[THROTTLE] - altHoldThrottleRCZero, deadband);

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

// 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 controlRange = -deadband;
controlRange += rcThrottleAdjustment > 0 ? getMaxThrottle() - altHoldThrottleRCZero : altHoldThrottleRCZero - getThrottleIdleValue();

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

return true;
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