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Disable ALTHOLD on user motor stop request #3298
Before if the user puts the throttle stick bellow
With this patch ALTHOLD is paused when the throttle is bellow
It allows to start gliding just by putting the throttle stick to 0 and start maintaining altitude again by increasing throttle above
I modified this PR. I think it is much better now, more polyvalent. No need to modify the ALTHOLD states and it will be working with 3D cruise mode without changing anything to it either.
I also took the opportunity to simplify/deduplicate code in
Tested and now ready to merge.