Logged local position z setpoint not as expected

[SamDSchofield]

Description
When we are flying in position control mode, the z setopint does not match what we would expect based on the throttle values as seen in these logs: log1, log2.

Behaviour
Log 1
After entering altitude hold mode, the throttle is below 0.5 and is decreased to 0. I would expect the z setpoint to also increase i.e. decrease altitude. Instead, the z setpoint decreases i.e. increases altitude.

Log 2
After switching into position control mode, the throttle is just below 0.5, but the z setpoint is decreasing i.e. telling the UAV to increase altitude. The throttle is then held still below 0.5. I would expect the z setpoint to increase i.e. decrease altitude, pretty much constantly. Instead, the z setpoint goes from decreasing to increasing.

Steps

• Fly in position control mode
• Adjust the throttle stick to change altitude.

Specifics

• PX4 1.7.3 (PX4FMU_V2)
• LPE

[SamDSchofield]

Looking at the source code it seems that the position setpoint is only used if the throttle stick is in the deadband, otherwise the position setpoint is set to the current position. Working as intended.