inav 有兩個CLI variables，可能有關: https://github.com/iNavFlight/inav/wiki/iNav-CLI-variables
nav_mc_hover_thr Multicopter hover throttle hint for altitude controller. Should be set to approximate throttle value when drone is hovering.
nav_mc_min_fly_thr Max throttle value treated as one of the conditions for landing detection. Must be sufficiently low to guarantee the "not flying" state even with full battery, but high enough for Altitude Hold controller to reach it.
