From 1a782b7834f2a4832f489fd7560af1446d0d75bb Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Tue, 28 May 2024 15:41:17 +0200
Subject: [PATCH] Use at least TRIM_THROTTLE during the climb

---
 libraries/AP_TECS/AP_TECS.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
index d74fdcd8264823..5620f861ee495f 100644
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@@ -1255,7 +1255,12 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
     } else {
         _THRmaxf  = aparm.throttle_max * 0.01f;
     }
-    _THRminf  = aparm.throttle_min * 0.01f;
+    // Apply at least trim throttle during the whole takeoff climb.
+    if (_flight_stage == AP_FixedWing::FlightStage::TAKEOFF ) {
+        _THRminf = aparm.throttle_cruise * 0.01f;
+    } else { // Otherwise, during normal situations let regular limit.
+        _THRminf = aparm.throttle_min * 0.01f;
+    }
 
     // min of 1% throttle range to prevent a numerical error
     _THRmaxf = MAX(_THRmaxf, _THRminf+0.01);