     const float yawCmd   = ((float)getAPM2Radio(RADIO_YAW)-90)   / 90.0;
     const float throttle = ((float)getAPM2Radio(RADIO_THROTTLE)-25)/130.0;
     const bool  gearCmd  = (getAPM2Radio(4) > 90);
+    float throttleOut = throttleCurve.get(throttle);
 
     if(getAPM2Radio(RADIO_THROTTLE) <= CHANNEL_MIN){
         horizon.standby();

const float GsToFeet = -32.17;
boolean calibrated = false;
boolean altHold    = false;
float altitudeSetpoint = 0;
PIDcontroller altPID(&altHoldParams);
uint32_t calStartTime;
const uint8_t CHANNEL_MIN = 32;

        //switch to manual mode
        altHold = false;
    } else if (altHold == false && gearCmd == true){
        altHoldInit(throttleOut);
        altHold = true;
    }

    if(altHold){
        throttleOut = altHoldUpdate(throttle);
    }

    if(fabs(yawCmd) > 0.1){
