A rotorcraft including a flight control computer (FCC) providing a vertical speed hold for the rotorcraft, a collective control, and a collective trim motor connected to the collective control. The collective trim motor moves the collective control according to a collective set command generated by the FCC according to a target vertical speed and when the FCC determines the collective control is in-detent. A collective position sensor is connected to the collective control. The collective position sensor generates, and sends to the FCC, a collective position signal indicating the position of the collective control. A flight control device controls a flight parameter of the rotorcraft in response to a flight control device control signal received from the FCC. The FCC generates the flight control device control signal according to the collective position signal, and sends the flight control device control signal to a flight control device.