Loiter Runaway in TradHeli

And when you say throttle, that variable in the code is really collective for heli. Just want to make sure we are all talking about the same thing.

This is completly different to this issue. Please keep this problem to a seperate thread. If it is still an issue for you post me a DM and I will look at it there.

This is the thing.
AC_AttitudeControl_Multi::set_throttle_out - translates vertical thrust to the body frame z thrust
_motors.set_throttle(throttle_in) - sets the body frame z thrust (or collective for heli)

This all assumes the output actuator is primarily a thrust actuator not a velocity actuator (feed forward of zero). We get away with it because of the I term but it is an interesting control structure problem. At least when considering a hover everything is effectively thrust…

I think we are on the same page.

Sorry Leonard, I reported it but it never got anywhere i saw your post so i took a stab at getting your input. Sent you a DM thanks.