Fix altitude hold climb rate calculation deadband issue #11241
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Remove double application of RC deadband in multicopter altitude hold climb rate calculation. Previously, deadband was applied to both the stick input (rcThrottleAdjustment) and the scaling limit (limitValue), causing the actual climb rate to not match the configured value. Now deadband is only applied once to the stick input, and the limit value uses the raw throttle range for proper scaling. Fixes iNavFlight#10660
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Adds safety check for limitValue to prevent potential division by zero in climb rate calculation. While the existing constraint on altHoldThrottleRCZero should prevent this condition under normal operation, this defensive check protects against: - Configuration corruption or invalid EEPROM values - Extremely narrow throttle range configurations - Future code changes that might affect the constraint behavior Addresses code review feedback on PR iNavFlight#11241.
sensei-hacker
changed the base branch from
maintenance-8.x.x
to
maintenance-9.x
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User description
Summary
Removes double application of RC deadband in multicopter altitude hold climb rate calculation.
Problem
The deadband was being applied twice:
This caused the actual climb rate to not match the configured value in the configurator.
Solution
Remove the second deadband application from . The limit value now uses the raw throttle range for proper scaling, while the deadband remains applied only to the stick input.
Testing
Impact
Fixes user-reported issue where manual climb rate doesn't match configurator setting.
Fixes #10660
PR Type
Bug fix
Description
Removes double application of RC deadband in altitude hold climb rate calculation
Fixes climb rate not matching configurator settings
Applies deadband only to stick input, uses raw throttle range for scaling
Diagram Walkthrough
File Walkthrough
navigation_multicopter.c
Fix double deadband application in climb rate calculationsrc/main/navigation/navigation_multicopter.c
applyDeadbandRescaled()call onlimitValuecalculation
limitValueto use raw throttle range (difference fromaltHoldThrottleRCZero)rcThrottleAdjustmentrate scaling