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The refactored get_throttle_mid() used radio_trim as the PWM reference point, but the original get_control_mid() used (radio_min + radio_max)/2 (the geometric midpoint of the stick travel). When radio_trim differs from that midpoint the throttle expo-curve splits at the wrong position, biasing the lower or upper half of the response. Restore the geometric midpoint to match the original behaviour. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Tests verify: - norm_input_dz() on a RANGE channel is a drop-in replacement for the old get_control_in() across a variety of min/max/deadzone configs - the fixed get_throttle_mid() matches the original get_control_mid() - the buggy version (which used radio_trim instead of the geometric midpoint) diverges whenever trim != (radio_min + radio_max) / 2 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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