From 59b96f4968690ff29fb3ad76462d649b38caa49f Mon Sep 17 00:00:00 2001
From: KonradRudin <98741601+KonradRudin@users.noreply.github.com>
Date: Mon, 15 Jul 2024 10:42:43 +0200
Subject: [PATCH] tecs: fast descend: do not shut down throttle while still
 climbing (#23397)

---
 src/lib/tecs/TECS.cpp | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/src/lib/tecs/TECS.cpp b/src/lib/tecs/TECS.cpp
index 0c26470683..4a6d3593e8 100644
--- a/src/lib/tecs/TECS.cpp
+++ b/src/lib/tecs/TECS.cpp
@@ -524,8 +524,13 @@ void TECSControl::_calcThrottleControl(float dt, const SpecificEnergyRates &spec
 	float throttle_setpoint{param.throttle_min};
 
 	if (1.f - param.fast_descend < FLT_EPSILON) {
-		// During fast descend, we control airspeed over the pitch control loop and give minimal thrust.
-		throttle_setpoint = param.throttle_min;
+		// During fast descend, we control airspeed over the pitch control loop. Give minimal thrust as soon as we are descending
+		if (specific_energy_rates.spe_rate.estimate > 0) { // We have a positive altitude rate and are stil climbing
+			throttle_setpoint = param.throttle_trim; // Do not cut off throttle yet
+
+		} else {
+			throttle_setpoint = param.throttle_min;
+		}
 
 	} else {
 		_calcThrottleControlUpdate(dt, limit, ste_rate, param, flag);