rc_update: remove 1% deadzone for RC channels 1-8 (#25502)

* rc_update: remove 1% deadzone for all channels

this should be handled higher level.

* Remove all references to the RC{n}_DZ parameters

Regular expression: RC.{0,2}_DZ

---------

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>

docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params

@@ -803,92 +803,74 @@
 1	1	PWM_MAIN_TIM1	400	6
 1	1	PWM_MAIN_TIM2	-1	6
 1	1	PWM_SBUS_MODE	0	6
-1	1	RC10_DZ	0.000000000000000000	9
 1	1	RC10_MAX	2000.000000000000000000	9
 1	1	RC10_MIN	1000.000000000000000000	9
 1	1	RC10_REV	1.000000000000000000	9
 1	1	RC10_TRIM	1500.000000000000000000	9
-1	1	RC11_DZ	0.000000000000000000	9
 1	1	RC11_MAX	2000.000000000000000000	9
 1	1	RC11_MIN	1000.000000000000000000	9
 1	1	RC11_REV	1.000000000000000000	9
 1	1	RC11_TRIM	1500.000000000000000000	9
-1	1	RC12_DZ	0.000000000000000000	9
 1	1	RC12_MAX	2000.000000000000000000	9
 1	1	RC12_MIN	1000.000000000000000000	9
 1	1	RC12_REV	1.000000000000000000	9
 1	1	RC12_TRIM	1500.000000000000000000	9
-1	1	RC13_DZ	0.000000000000000000	9
 1	1	RC13_MAX	2000.000000000000000000	9
 1	1	RC13_MIN	1000.000000000000000000	9
 1	1	RC13_REV	1.000000000000000000	9
 1	1	RC13_TRIM	1500.000000000000000000	9
-1	1	RC14_DZ	0.000000000000000000	9
 1	1	RC14_MAX	2000.000000000000000000	9
 1	1	RC14_MIN	1000.000000000000000000	9
 1	1	RC14_REV	1.000000000000000000	9
 1	1	RC14_TRIM	1500.000000000000000000	9
-1	1	RC15_DZ	0.000000000000000000	9
 1	1	RC15_MAX	2000.000000000000000000	9
 1	1	RC15_MIN	1000.000000000000000000	9
 1	1	RC15_REV	1.000000000000000000	9
 1	1	RC15_TRIM	1500.000000000000000000	9
-1	1	RC16_DZ	0.000000000000000000	9
 1	1	RC16_MAX	2000.000000000000000000	9
 1	1	RC16_MIN	1000.000000000000000000	9
 1	1	RC16_REV	1.000000000000000000	9
 1	1	RC16_TRIM	1500.000000000000000000	9
-1	1	RC17_DZ	0.000000000000000000	9
 1	1	RC17_MAX	2000.000000000000000000	9
 1	1	RC17_MIN	1000.000000000000000000	9
 1	1	RC17_REV	1.000000000000000000	9
 1	1	RC17_TRIM	1500.000000000000000000	9
-1	1	RC18_DZ	0.000000000000000000	9
 1	1	RC18_MAX	2000.000000000000000000	9
 1	1	RC18_MIN	1000.000000000000000000	9
 1	1	RC18_REV	1.000000000000000000	9
 1	1	RC18_TRIM	1500.000000000000000000	9
-1	1	RC1_DZ	10.000000000000000000	9
 1	1	RC1_MAX	1996.000000000000000000	9
 1	1	RC1_MIN	999.000000000000000000	9
 1	1	RC1_REV	1.000000000000000000	9
 1	1	RC1_TRIM	1498.000000000000000000	9
-1	1	RC2_DZ	10.000000000000000000	9
 1	1	RC2_MAX	1998.000000000000000000	9
 1	1	RC2_MIN	1000.000000000000000000	9
 1	1	RC2_REV	1.000000000000000000	9
 1	1	RC2_TRIM	1499.000000000000000000	9
-1	1	RC3_DZ	10.000000000000000000	9
 1	1	RC3_MAX	1997.000000000000000000	9
 1	1	RC3_MIN	1000.000000000000000000	9
 1	1	RC3_REV	1.000000000000000000	9
 1	1	RC3_TRIM	1000.000000000000000000	9
-1	1	RC4_DZ	10.000000000000000000	9
 1	1	RC4_MAX	1997.000000000000000000	9
 1	1	RC4_MIN	1000.000000000000000000	9
 1	1	RC4_REV	1.000000000000000000	9
 1	1	RC4_TRIM	1498.000000000000000000	9
-1	1	RC5_DZ	10.000000000000000000	9
 1	1	RC5_MAX	2000.000000000000000000	9
 1	1	RC5_MIN	1000.000000000000000000	9
 1	1	RC5_REV	1.000000000000000000	9
 1	1	RC5_TRIM	1500.000000000000000000	9
-1	1	RC6_DZ	10.000000000000000000	9
 1	1	RC6_MAX	2000.000000000000000000	9
 1	1	RC6_MIN	1000.000000000000000000	9
 1	1	RC6_REV	1.000000000000000000	9
 1	1	RC6_TRIM	1500.000000000000000000	9
-1	1	RC7_DZ	10.000000000000000000	9
 1	1	RC7_MAX	2000.000000000000000000	9
 1	1	RC7_MIN	1000.000000000000000000	9
 1	1	RC7_REV	1.000000000000000000	9
 1	1	RC7_TRIM	1500.000000000000000000	9
-1	1	RC8_DZ	10.000000000000000000	9
 1	1	RC8_MAX	2000.000000000000000000	9
 1	1	RC8_MIN	1000.000000000000000000	9
 1	1	RC8_REV	1.000000000000000000	9
 1	1	RC8_TRIM	1500.000000000000000000	9
-1	1	RC9_DZ	0.000000000000000000	9
 1	1	RC9_MAX	2000.000000000000000000	9
 1	1	RC9_MIN	1000.000000000000000000	9
 1	1	RC9_REV	1.000000000000000000	9

docs/en/flight_modes_mc/altitude.md

@@ -47,5 +47,4 @@ The mode is affected by the following parameters:
 | ----------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | Maximum vertical ascent velocity. Default: 3 m/s.                                                                                                                                                                                                                                                   |
 | <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | Maximum vertical descent velocity. Default: 1 m/s.                                                                                                                                                                                                                                                  |
-| <a id="RCX_DZ"></a>`RCX_DZ`                                                                                 | RC dead zone for channel X. The value of X for throttle will depend on the value of [RC_MAP_THROTTLE](../advanced_config/parameter_reference.md#RC_MAP_THROTTLE). For example, if the throttle is channel 4 then [RC4_DZ](../advanced_config/parameter_reference.md#RC4_DZ) specifies the deadzone. |
 | <a id="MPC_xxx"></a>`MPC_XXXX`                                                                              | Most of the MPC_xxx parameters affect flight behaviour in this mode (at least to some extent). For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover.                                                              |

docs/en/flight_modes_mc/position.md

@@ -67,7 +67,6 @@ All the parameters in the [Multicopter Position Control](../advanced_config/para
 | <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | Maximum vertical descent velocity. Default: 1 m/s.                                                                                                                                                                                                                                                                          |
 | <a id="MPC_LAND_ALT1"></a>[MPC_LAND_ALT1](../advanced_config/parameter_reference.md#MPC_LAND_ALT1)          | Altitude for triggering first phase of slow landing. Below this altitude descending velocity gets limited to a value between [MPC_Z_VEL_MAX_DN](#MPC_Z_VEL_MAX_DN) (or `MPC_Z_V_AUTO_DN`) and [MPC_LAND_SPEED](#MPC_LAND_SPEED). Value needs to be higher than [MPC_LAND_ALT2](#MPC_LAND_ALT2). Default 10m.                |
 | <a id="MPC_LAND_ALT2"></a>[MPC_LAND_ALT2](../advanced_config/parameter_reference.md#MPC_LAND_ALT2)          | Altitude for second phase of slow landing. Below this altitude descending velocity gets limited to [`MPC_LAND_SPEED`](#MPC_LAND_SPEED). Value needs to be lower than "MPC_LAND_ALT1". Default 5m.                                                                                                                           |
-| <a id="RCX_DZ"></a>`RCX_DZ`                                                                                 | RC dead zone for channel X. The value of X for throttle will depend on the value of [RC_MAP_THROTTLE](../advanced_config/parameter_reference.md#RC_MAP_THROTTLE). For example, if the throttle is channel 4 then [RC4_DZ](../advanced_config/parameter_reference.md#RC4_DZ) specifies the deadzone.                         |
 | <a id="MPC_xxx"></a>`MPC_XXXX`                                                                              | Most of the MPC_xxx parameters affect flight behaviour in this mode (at least to some extent). For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover.                                                                                      |
 | <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE)             | Stick input to movement translation strategy. From PX4 v1.12 the default (`Acceleration based`) is that stick position controls acceleration (in a similar way to a car accelerator pedal). Other options allow stick deflection to directly control speed over ground, with and without smoothing and acceleration limits. |
 | <a id="MPC_ACC_HOR_MAX"></a>[MPC_ACC_HOR_MAX](../advanced_config/parameter_reference.md#MPC_ACC_HOR_MAX)    | Maximum horizontal acceleration.                                                                                                                                                                                                                                                                                            |

src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -33,11 +33,6 @@
 
 #include "rcCalibrationCheck.hpp"
 
-/**
- * Maximum deadzone value
- */
-#define RC_INPUT_MAX_DEADZONE_US	500
-
 /**
  * Minimum value
  */
@@ -61,9 +56,6 @@ RcCalibrationChecks::RcCalibrationChecks()
 
 		snprintf(nbuf, sizeof(nbuf), "RC%d_MAX", i + 1);
 		_param_handles[i].max = param_find(nbuf);
-
-		snprintf(nbuf, sizeof(nbuf), "RC%d_DZ", i + 1);
-		_param_handles[i].dz = param_find(nbuf);
 	}
 
 	updateParams();
@@ -84,7 +76,6 @@ void RcCalibrationChecks::checkAndReport(const Context &context, Report &reporte
 		float param_min = _param_values[i].min;
 		float param_max = _param_values[i].max;
 		float param_trim = _param_values[i].trim;
-		float param_dz = _param_values[i].dz;
 
 		/* assert min..center..max ordering */
 		if (param_min < RC_INPUT_LOWEST_MIN_US) {
@@ -148,22 +139,6 @@ void RcCalibrationChecks::checkAndReport(const Context &context, Report &reporte
 						     (int)param_trim, (int)param_max);
 			}
 		}
-
-		/* assert deadzone is sane */
-		if (param_dz > RC_INPUT_MAX_DEADZONE_US) {
-			/* EVENT
-			 * @description
-			 * Recalibrate the RC.
-			 */
-			reporter.armingCheckFailure<uint8_t, uint16_t>(NavModes::All, health_component_t::remote_control,
-					events::ID("check_rc_dz_too_high"),
-					events::Log::Error, "RC calibration for channel {1} invalid: DZ greater than {2}", i + 1, RC_INPUT_MAX_DEADZONE_US);
-
-			if (reporter.mavlink_log_pub()) {
-				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: RC ERROR: RC%d_DZ > %u", i + 1,
-						     RC_INPUT_MAX_DEADZONE_US);
-			}
-		}
 	}
 }
 
@@ -176,11 +151,9 @@ void RcCalibrationChecks::updateParams()
 		_param_values[i].min = 0.0f;
 		_param_values[i].max = 0.0f;
 		_param_values[i].trim = 0.0f;
-		_param_values[i].dz = RC_INPUT_MAX_DEADZONE_US * 2.0f;
 
 		param_get(_param_handles[i].min, &_param_values[i].min);
 		param_get(_param_handles[i].trim, &_param_values[i].trim);
 		param_get(_param_handles[i].max, &_param_values[i].max);
-		param_get(_param_handles[i].dz, &_param_values[i].dz);
 	}
 }

src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -53,13 +53,11 @@ private:
 		param_t min;
 		param_t trim;
 		param_t max;
-		param_t dz;
 	};
 	struct ParamValues {
 		float min;
 		float trim;
 		float max;
-		float dz;
 	};
 
 	ParamHandles _param_handles[input_rc_s::RC_INPUT_MAX_CHANNELS];

src/modules/rc_update/params.c

@@ -87,18 +87,6 @@ PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
  */
 PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
 
-/**
- * RC channel 1 dead zone
- *
- * The +- range of this value around the trim value will be considered as zero.
- *
- * @min 0.0
- * @max 100.0
- * @unit us
- * @group Radio Calibration
- */
-PARAM_DEFINE_FLOAT(RC1_DZ, 10.0f);
-
 /**
  * RC channel 2 minimum
  *
@@ -148,18 +136,6 @@ PARAM_DEFINE_FLOAT(RC2_MAX, 2000.0f);
  */
 PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
 
-/**
- * RC channel 2 dead zone
- *
- * The +- range of this value around the trim value will be considered as zero.
- *
- * @min 0.0
- * @max 100.0
- * @unit us
- * @group Radio Calibration
- */
-PARAM_DEFINE_FLOAT(RC2_DZ, 10.0f);
-
 /**
  * RC channel 3 minimum
  *
@@ -209,18 +185,6 @@ PARAM_DEFINE_FLOAT(RC3_MAX, 2000);
  */
 PARAM_DEFINE_FLOAT(RC3_REV, 1.0f);
 
-/**
- * RC channel 3 dead zone
- *
- * The +- range of this value around the trim value will be considered as zero.
- *
- * @min 0.0
- * @max 100.0
- * @unit us
- * @group Radio Calibration
- */
-PARAM_DEFINE_FLOAT(RC3_DZ, 10.0f);
-
 /**
  * RC channel 4 minimum
  *
@@ -270,18 +234,6 @@ PARAM_DEFINE_FLOAT(RC4_MAX, 2000);
  */
 PARAM_DEFINE_FLOAT(RC4_REV, 1.0f);
 
-/**
- * RC channel 4 dead zone
- *
- * The +- range of this value around the trim value will be considered as zero.
- *
- * @min 0.0
- * @max 100.0
- * @unit us
- * @group Radio Calibration
- */
-PARAM_DEFINE_FLOAT(RC4_DZ, 10.0f);
-
 /**
  * RC channel 5 minimum
  *
@@ -331,17 +283,6 @@ PARAM_DEFINE_FLOAT(RC5_MAX, 2000);
  */
 PARAM_DEFINE_FLOAT(RC5_REV, 1.0f);
 
-/**
- * RC channel 5 dead zone
- *
- * The +- range of this value around the trim value will be considered as zero.
- *
- * @min 0.0
- * @max 100.0
- * @group Radio Calibration
- */
-PARAM_DEFINE_FLOAT(RC5_DZ,  10.0f);
-
 /**
  * RC channel 6 minimum
  *
@@ -391,17 +332,6 @@ PARAM_DEFINE_FLOAT(RC6_MAX, 2000);
  */
 PARAM_DEFINE_FLOAT(RC6_REV, 1.0f);
 
-/**
- * RC channel 6 dead zone
- *
- * The +- range of this value around the trim value will be considered as zero.
- *
- * @min 0.0
- * @max 100.0
- * @group Radio Calibration
- */
-PARAM_DEFINE_FLOAT(RC6_DZ, 10.0f);
-
 /**
  * RC channel 7 minimum
  *
@@ -451,17 +381,6 @@ PARAM_DEFINE_FLOAT(RC7_MAX, 2000);
  */
 PARAM_DEFINE_FLOAT(RC7_REV, 1.0f);
 
-/**
- * RC channel 7 dead zone
- *
- * The +- range of this value around the trim value will be considered as zero.
- *
- * @min 0.0
- * @max 100.0
- * @group Radio Calibration
- */
-PARAM_DEFINE_FLOAT(RC7_DZ, 10.0f);
-
 /**
  * RC channel 8 minimum
  *
@@ -511,17 +430,6 @@ PARAM_DEFINE_FLOAT(RC8_MAX, 2000);
  */
 PARAM_DEFINE_FLOAT(RC8_REV, 1.0f);
 
-/**
- * RC channel 8 dead zone
- *
- * The +- range of this value around the trim value will be considered as zero.
- *
- * @min 0.0
- * @max 100.0
- * @group Radio Calibration
- */
-PARAM_DEFINE_FLOAT(RC8_DZ, 10.0f);
-
 /**
  * RC channel 9 minimum
  *
@@ -571,17 +479,6 @@ PARAM_DEFINE_FLOAT(RC9_MAX, 2000);
  */
 PARAM_DEFINE_FLOAT(RC9_REV, 1.0f);
 
-/**
- * RC channel 9 dead zone
- *
- * The +- range of this value around the trim value will be considered as zero.
- *
- * @min 0.0
- * @max 100.0
- * @group Radio Calibration
- */
-PARAM_DEFINE_FLOAT(RC9_DZ, 0.0f);
-
 /**
  * RC channel 10 minimum
  *
@@ -631,17 +528,6 @@ PARAM_DEFINE_FLOAT(RC10_MAX, 2000);
  */
 PARAM_DEFINE_FLOAT(RC10_REV, 1.0f);
 
-/**
- * RC channel 10 dead zone
- *
- * The +- range of this value around the trim value will be considered as zero.
- *
- * @min 0.0
- * @max 100.0
- * @group Radio Calibration
- */
-PARAM_DEFINE_FLOAT(RC10_DZ, 0.0f);
-
 /**
  * RC channel 11 minimum
  *
@@ -691,17 +577,6 @@ PARAM_DEFINE_FLOAT(RC11_MAX, 2000);
  */
 PARAM_DEFINE_FLOAT(RC11_REV, 1.0f);
 
-/**
- * RC channel 11 dead zone
- *
- * The +- range of this value around the trim value will be considered as zero.
- *
- * @min 0.0
- * @max 100.0
- * @group Radio Calibration
- */
-PARAM_DEFINE_FLOAT(RC11_DZ, 0.0f);
-
 /**
  * RC channel 12 minimum
  *
@@ -751,17 +626,6 @@ PARAM_DEFINE_FLOAT(RC12_MAX, 2000);
  */
 PARAM_DEFINE_FLOAT(RC12_REV, 1.0f);
 
-/**
- * RC channel 12 dead zone
- *
- * The +- range of this value around the trim value will be considered as zero.
- *
- * @min 0.0
- * @max 100.0
- * @group Radio Calibration
- */
-PARAM_DEFINE_FLOAT(RC12_DZ, 0.0f);
-
 /**
  * RC channel 13 minimum
  *
@@ -811,17 +675,6 @@ PARAM_DEFINE_FLOAT(RC13_MAX, 2000);
  */
 PARAM_DEFINE_FLOAT(RC13_REV, 1.0f);
 
-/**
- * RC channel 13 dead zone
- *
- * The +- range of this value around the trim value will be considered as zero.
- *
- * @min 0.0
- * @max 100.0
- * @group Radio Calibration
- */
-PARAM_DEFINE_FLOAT(RC13_DZ, 0.0f);
-
 /**
  * RC channel 14 minimum
  *
@@ -871,17 +724,6 @@ PARAM_DEFINE_FLOAT(RC14_MAX, 2000);
  */
 PARAM_DEFINE_FLOAT(RC14_REV, 1.0f);
 
-/**
- * RC channel 14 dead zone
- *
- * The +- range of this value around the trim value will be considered as zero.
- *
- * @min 0.0
- * @max 100.0
- * @group Radio Calibration
- */
-PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f);
-
 /**
  * RC channel 15 minimum
  *
@@ -931,17 +773,6 @@ PARAM_DEFINE_FLOAT(RC15_MAX, 2000);
  */
 PARAM_DEFINE_FLOAT(RC15_REV, 1.0f);
 
-/**
- * RC channel 15 dead zone
- *
- * The +- range of this value around the trim value will be considered as zero.
- *
- * @min 0.0
- * @max 100.0
- * @group Radio Calibration
- */
-PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f);
-
 /**
  * RC channel 16 minimum
  *
@@ -991,17 +822,6 @@ PARAM_DEFINE_FLOAT(RC16_MAX, 2000);
  */
 PARAM_DEFINE_FLOAT(RC16_REV, 1.0f);
 
-/**
- * RC channel 16 dead zone
- *
- * The +- range of this value around the trim value will be considered as zero.
- *
- * @min 0.0
- * @max 100.0
- * @group Radio Calibration
- */
-PARAM_DEFINE_FLOAT(RC16_DZ, 0.0f);
-
 /**
  * RC channel 17 minimum
  *
@@ -1051,17 +871,6 @@ PARAM_DEFINE_FLOAT(RC17_MAX, 2000);
  */
 PARAM_DEFINE_FLOAT(RC17_REV, 1.0f);
 
-/**
- * RC channel 17 dead zone
- *
- * The +- range of this value around the trim value will be considered as zero.
- *
- * @min 0.0
- * @max 100.0
- * @group Radio Calibration
- */
-PARAM_DEFINE_FLOAT(RC17_DZ, 0.0f);
-
 /**
  * RC channel 18 minimum
  *
@@ -1111,17 +920,6 @@ PARAM_DEFINE_FLOAT(RC18_MAX, 2000);
  */
 PARAM_DEFINE_FLOAT(RC18_REV, 1.0f);
 
-/**
- * RC channel 18 dead zone
- *
- * The +- range of this value around the trim value will be considered as zero.
- *
- * @min 0.0
- * @max 100.0
- * @group Radio Calibration
- */
-PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f);
-
 /**
  * RC channel count
  *

src/modules/rc_update/rc_update.cpp

@@ -87,10 +87,6 @@ RCUpdate::RCUpdate() :
 		/* channel reverse */
 		snprintf(nbuf, sizeof(nbuf), "RC%d_REV", i + 1);
 		_parameter_handles.rev[i] = param_find(nbuf);
-
-		/* channel deadzone */
-		snprintf(nbuf, sizeof(nbuf), "RC%d_DZ", i + 1);
-		_parameter_handles.dz[i] = param_find(nbuf);
 	}
 
 	// RC to parameter mapping for changing parameters with RC
@@ -145,10 +141,6 @@ void RCUpdate::updateParams()
 		float rev = 0.f;
 		param_get(_parameter_handles.rev[i], &rev);
 		_parameters.rev[i] = (rev < 0.f);
-
-		float dz = 0.f;
-		param_get(_parameter_handles.dz[i], &dz);
-		_parameters.dz[i] = dz;
 	}
 
 	for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
@@ -449,12 +441,9 @@ void RCUpdate::Run()
 			const float min = _parameters.min[i];
 			const float trim = _parameters.trim[i];
 			const float max = _parameters.max[i];
-			const float dz = _parameters.dz[i];
 
 			// piecewise linear function to apply RC calibration
-			_rc.channels[i] = math::interpolateNXY(value,
-			{min, trim - dz, trim + dz, max},
-			{-1.f, 0.f, 0.f, 1.f});
+			_rc.channels[i] = math::interpolateNXY(value, {min, trim, max}, {-1.f, 0.f, 1.f});
 
 			if (_parameters.rev[i]) {
 				_rc.channels[i] = -_rc.channels[i];
@@ -725,11 +714,11 @@ int RCUpdate::print_status()
 	PX4_INFO_RAW("Running\n");
 
 	if (_channel_count_max > 0) {
-		PX4_INFO_RAW(" #  MIN  MAX TRIM  DZ REV\n");
+		PX4_INFO_RAW(" #  MIN  MAX TRIM REV\n");
 
 		for (int i = 0; i < _channel_count_max; i++) {
-			PX4_INFO_RAW("%2d %4d %4d %4d %3d %3d\n", i, _parameters.min[i], _parameters.max[i], _parameters.trim[i],
-				     _parameters.dz[i], _parameters.rev[i]);
+			PX4_INFO_RAW("%2d %4d %4d %4d %3d\n",
+				     i, _parameters.min[i], _parameters.max[i], _parameters.trim[i], _parameters.rev[i]);
 		}
 	}
 

src/modules/rc_update/rc_update.h

@@ -148,7 +148,6 @@ protected:
 		uint16_t min[RC_MAX_CHAN_COUNT];
 		uint16_t trim[RC_MAX_CHAN_COUNT];
 		uint16_t max[RC_MAX_CHAN_COUNT];
-		uint16_t dz[RC_MAX_CHAN_COUNT];
 		bool rev[RC_MAX_CHAN_COUNT];
 
 		int32_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
@@ -159,7 +158,6 @@ protected:
 		param_t trim[RC_MAX_CHAN_COUNT];
 		param_t max[RC_MAX_CHAN_COUNT];
 		param_t rev[RC_MAX_CHAN_COUNT];
-		param_t dz[RC_MAX_CHAN_COUNT];
 
 		param_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
 		param_t rc_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];	/**< param handles for the parameters which are bound