diff --git a/src/main/flight/altitudehold.c b/src/main/flight/altitudehold.c
index 16259b38..c19cfdb4 100644
--- a/src/main/flight/altitudehold.c
+++ b/src/main/flight/altitudehold.c
@@ -90,10 +90,10 @@ static void applyMultirotorAltHold(void)
     // multirotor alt hold
     if (rcControlsConfig->alt_hold_fast_change) {
         // rapid alt changes
-        if (ABS(rcCommand[THROTTLE] - initialThrottleHold) > rcControlsConfig->alt_hold_deadband) {
+        if (ABS(rcData[THROTTLE] - initialThrottleHold) > rcControlsConfig->alt_hold_deadband) {
             errorVelocityI = 0;
             isAltHoldChanged = 1;
-            rcCommand[THROTTLE] += (rcCommand[THROTTLE] > initialThrottleHold) ? -rcControlsConfig->alt_hold_deadband : rcControlsConfig->alt_hold_deadband;
+            rcCommand[THROTTLE] += (rcData[THROTTLE] > initialThrottleHold) ? -rcControlsConfig->alt_hold_deadband : rcControlsConfig->alt_hold_deadband;
         } else {
             if (isAltHoldChanged) {
                 AltHold = EstAlt;
@@ -103,9 +103,9 @@ static void applyMultirotorAltHold(void)
         }
     } else {
         // slow alt changes, mostly used for aerial photography
-        if (ABS(rcCommand[THROTTLE] - initialThrottleHold) > rcControlsConfig->alt_hold_deadband) {
+        if (ABS(rcData[THROTTLE] - initialThrottleHold) > rcControlsConfig->alt_hold_deadband) {
             // set velocity proportional to stick movement +100 throttle gives ~ +50 cm/s
-            setVelocity = (rcCommand[THROTTLE] - initialThrottleHold) / 2;
+            setVelocity = (rcData[THROTTLE] - initialThrottleHold) / 2;
             velocityControl = 1;
             isAltHoldChanged = 1;
         } else if (isAltHoldChanged) {
@@ -146,7 +146,7 @@ void updateAltHoldState(void)
     if (!FLIGHT_MODE(BARO_MODE)) {
         ENABLE_FLIGHT_MODE(BARO_MODE);
         AltHold = EstAlt;
-        initialThrottleHold = rcCommand[THROTTLE];
+        initialThrottleHold = rcData[THROTTLE];
         errorVelocityI = 0;
         altHoldThrottleAdjustment = 0;
     }
@@ -163,7 +163,7 @@ void updateSonarAltHoldState(void)
     if (!FLIGHT_MODE(SONAR_MODE)) {
         ENABLE_FLIGHT_MODE(SONAR_MODE);
         AltHold = EstAlt;
-        initialThrottleHold = rcCommand[THROTTLE];
+        initialThrottleHold = rcData[THROTTLE];
         errorVelocityI = 0;
         altHoldThrottleAdjustment = 0;
     }