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Fix altitude hold climb rate calculation deadband issue #11241

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Fix altitude hold climb rate calculation deadband issue #11241

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3efba89
Fix altitude hold climb rate calculation deadband issue
sensei-hacker Jan 11, 2026
da05284
Add defensive check against division by zero
sensei-hacker Jan 11, 2026
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12 changes: 9 additions & 3 deletions src/main/navigation/navigation_multicopter.c
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Original file line number Diff line number Diff line change
Expand Up @@ -143,9 +143,15 @@ bool adjustMulticopterAltitudeFromRCInput(void)
/* 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);
// Calculate max up or min down limit value (raw range, deadband already applied to rcThrottleAdjustment)
int16_t limitValue = rcThrottleAdjustment > 0 ?
(getMaxThrottle() - altHoldThrottleRCZero) :
(altHoldThrottleRCZero - getThrottleIdleValue());

// Defensive check - should never trigger with valid configuration
if (limitValue <= 0) {
limitValue = 1; // Prevent division by zero/negative
}

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