breadoven

Any reason why you closed this @Scavanger ? Are you still working on it ?

OK. I tested the changes from this PR with some additional changes and it seems to work as expected now. Additional changes were: 1. Last commit removed (https://github.com/iNavFlight/inav/pull/9754/commits/a66deda681238b89b86001e95096475ea15d5908) which breaks...

Check the log file for: `flightModeFlags` - should say ALTHOLD and SURFACE `navTgtPos[2]` - should be the same as the value of `nav_max_terrain_follow_alt `(which is in cm) `navPos[2] `- should...

The problem is the estimated vertical velocity is screwed up. On arming it goes -ve, probably because of ground effect from the prop wash, then ends up with a negative...

> Is there any way to prevent the instant throttling up when the AGL Trusted flag goes away in the case of the rangefinder going out of its effective range?...

> I don’t think this is needed when the option exists to use autolaunch with manual throttle. Not sure this would help if the Tx is on the ground and...

Actually the "point the nose at the sky" method of cutting the motor after launch detection should be possible now just using current programming logic, launch state + pitch attitude...

I thought it seems to be better mainly because it doesn't over brake after over speeding. It still over speeds but not as badly as before but then drops back...

Looking at the dynamic dTerm scaling used by the acceleration controller, the default settings reduce D gain down to only 10% for any speed > 60% of the target speed...

@Jetrell I'm not sure we're talking about the same issues somehow. The main problem I found, the the reason for this PR, was during the initial acceleration phase where the...