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[NAV] Restrict MC RoC/RoD rate-limiting to the case where we actually accelerate #4245
referenced this pull request
Jan 21, 2019
Thanks Konstantin :)
Thank you once again
This fix doesn't actually "fix" the issue - that would be impossible without rethinking the "takeoff" procedure. This fix merely minimizes the effect of the bug. Not perfect, but much safer than before.
Throttle increase is expected - target RTH altitude is higher than current altitude and quad needs to build up climb rate to reach it. It also needs to compensate for that drop in throttle.