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

@@ -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) {
@@ -3578,15 +3578,15 @@ 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;
 				acc.accADCf[Z] = ((int16_t)sbufReadU16(src)) / 1000.0f;
 				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);
                     }
                 }
 

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"