It works like this, the input gain will always change the scale of all channels, the JS_THR_GAIN scales the throttle gain once more relative to the overall gain.
So this is how it works:
the Dive/Ascend speed get faster as i increase the gain.
input gain = 100%, JS_THR_GAIN = 0.5, throttle channel gain = 50%
input gain = 50%, JS_THR_GAIN = 0.5, throttle channel gain = 25%
Can I also set the maximum depth to say 4.5m as i would like to stay 5m off the floor to stop disturbing the silt.
This is a feature still in development so the instructions here are subject to change in the future. To do this set the following parameters: