Throttle curve in offboard mode

Hi everyone!

I wan’t to know how to avoid this peaks of throttle (climbing up or down) when changing the altitude setpoint

I would like a progresive throttle curve and not sudden changes from hover to 100% or from hover to 0%.

I have tried limiting the acceleration and velocity tipical paramenters with QG but it doesn’t take any effect.

Could be affected by MPC_XY_VEL_ and MPC_Z_VEL PID parameters? Or has relation with the Mavros setpoint commands?

Thanks in advice for the help!