Merged release into master

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -86,6 +86,7 @@
 #define TILT_COS_MAX	0.7f
 #define SIGMA			0.000001f
 #define MIN_DIST		0.01f
+#define MANUAL_THROTTLE_MAX_MULTICOPTER	0.9f
 
 /**
  * Multicopter position control app start / stop handling function
@@ -1390,7 +1391,7 @@ MulticopterPositionControl::task_main()
 
 			//Control climb rate directly if no aiding altitude controller is active
 			if(!_control_mode.flag_control_climb_rate_enabled) {
-				_att_sp.thrust = _manual.z;
+				_att_sp.thrust = math::min(_manual.z, MANUAL_THROTTLE_MAX_MULTICOPTER);
 			}
 
 			//Construct attitude setpoint rotation matrix

src/modules/mc_pos_control/mc_pos_control_params.c

@@ -55,13 +55,16 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.1f);
 /**
  * Maximum thrust
  *
- * Limit max allowed thrust.
+ * Limit max allowed thrust. Setting a value of one can put
+ * the system into actuator saturation as no spread between
+ * the motors is possible any more. A value of 0.8 - 0.9
+ * is recommended.
  *
  * @min 0.0
  * @max 1.0
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
+PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.9f);
 
 /**
  * Proportional gain for vertical position error