and-sh

On the oscilloscope it looks terrible. The frequency became closer to the set one, but the phase is random. It looks like fifo will have to be done after all

It fly fine

I left it like this for now. Not optimal but work ```c void FAST_CODE NOINLINE scheduler(void) { // gyro task GyroDiv = (uint32_t) micros(); GyroMod = GyroDiv % 159; GyroDiv...

I mostly fly in acro. I need poshold for pauses to adjust glasses or shoo away a mosquito and for landing. I have hover throttle 1230ms. So the ascent speed...

> Mid: maintain altitude if the stick is exactly at 1500 This is not true. In my setup MID this is about 1200. That's the point of issue

Well, yes, that's right. Why not just put 1500 here?  Instead of calculating this.  1500 is the middle for most radios Edit: Sorry, that was the wrong picture

> Edit: just noticed you do have `thr_mid `set to 20% which explains things. Why this setting to aid hovering though ? Yep, this really helps to maintain the altitude...

Sorry, that was the wrong picture, now it's correct.

> another Althold throttle option There are indeed 3 options. MID_STICK is called that, but it doesn't lead to 1500. In fact, it duplicates HOVER. 

Mid stick uses thr_mid. which defines the point from which the exponent is counted. It is most logical to put something like hover throttle there. Therefore, in general, these settings...