# Mid Throttle Setup? **URL:** \ **Category:** Uncategorized\ **Created:** [August 1, 2017, 7:25am UTC](https://discuss.px4.io/t/mid-throttle-setup/4038 "2017-08-01T07:25:07Z")\ **Posts on this page:** 3\ **Page:** 1
**Author:** ![mward2](https://discuss.px4.io/letter_avatar_proxy/v4/letter/m/d6d6ee/32.png) [@mward2](https://discuss.px4.io/u/mward2)\ **Post date:** [August 1, 2017, 7:25am UTC](https://discuss.px4.io/t/mid-throttle-setup/4038/1 "2017-08-01T07:25:07Z")
Hi All, As a beginner setting up a new quadcopter system, we are struggling to configure a midpoint throttle. We are using qgroundcontrol with PX4. The aircraft flies fine, but the aircraft actively floats up and down although holds GPS position perfectly. Upon trying to land the aircraft, with full throttle stick down, the motors won’t return to an idle which hence won’t allow us to cut the motors except by using a kill switch when we get close to the ground. If we land the aircraft and let the throttle position return to centre, the quadcopter wants to jump up in the air everytime. Any help would be great. ---
**Author:** ![dagar](https://discuss.px4.io/user_avatar/discuss.px4.io/dagar/32/22_2.png) [@dagar](https://discuss.px4.io/u/dagar)\ **Post date:** [August 1, 2017, 3:45pm UTC](https://discuss.px4.io/t/mid-throttle-setup/4038/2 "2017-08-01T15:45:38Z")
Assuming it’s the controller and not your altitude estimate start by setting the parameter MPC\_THR\_HOVER appropriately and you may also need to change MPC\_THR\_MIN depending on your vehicle. After that look at tuning the altitude controller (MPC\_Z\_\*). Give that a try and if you’re still having trouble please post a flight log ([http://logs.px4.io/](http://logs.px4.io/)). ---
**Author:** ![mward2](https://discuss.px4.io/letter_avatar_proxy/v4/letter/m/d6d6ee/32.png) [@mward2](https://discuss.px4.io/u/mward2)\ **Post date:** [August 2, 2017, 1:21am UTC](https://discuss.px4.io/t/mid-throttle-setup/4038/3 "2017-08-02T01:21:10Z")
Thankyou Sir, will try it out and let you know.