Multicopter emergency landing improvement/fix #9169
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Removed the change to set Throttle to 90% of Hover throttle since it could result in a climb if Hover throttle was still set at the default value. Not sure if the other other changes will make much difference to the original issue given it seems to be PID/FS related ? |
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Fixed an issue where throttle gets reset to 0 rather than hover throttle if the altitude controller is reset. Although seems unlikely to definitely fix the original problem it might limit throttle related instability issues when initiating an emergency landing. Should be good to merge. |
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Addresses possible problems highlighted by #9167.
Not yet tested.