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throttle-down won't have an effect. Throttle-up *might* have an effect, so we need to protect against that. We want to leave the vehicle at zero throttle after the RTL IMO, and zero is a better choice than middle while we *are* doing RTL throttle-down won't have an effect. Throttle-up *might* have an effect, so we need to protect against that. We want to leave the vehicle at zero throttle after the RTL IMO, and zero is a reasonable choice while we *are* doing RTL.
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Testing (more checks increases chance of being merged)
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