diydrones/ardupilot — pull request #900 by hsteinhaus (2014-03-13 17:42:04+00:00)
Title: Climb speed fixes

ALT_HOLD was limited to the default climb/descend speeds of +2.5 and -1.5 m/s, regardless of PILOT_VELZ_MAX setting. Using these patches, the problem seems to be solved, despite of a small steady state error, the demanded climb rate is generally achieved.