Copter: ensure _spin_when_armed is not higher than _min_throttle

libraries/AP_Motors/AP_MotorsMatrix.cpp

@@ -123,11 +123,14 @@ void AP_MotorsMatrix::output_armed()
 
     // if we are not sending a throttle output, we cut the motors
     if (_rc_throttle->servo_out == 0) {
+        // range check spin_when_armed
+        if (_spin_when_armed < 0) {
+             _spin_when_armed = 0;
+        }
+        if (_spin_when_armed > _min_throttle) {
+            _spin_when_armed = _min_throttle;
+        }
         for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
-            // range check spin_when_armed
-            if (_spin_when_armed < 0) {
-                _spin_when_armed = 0;
-            }
             // spin motors at minimum
             if (motor_enabled[i]) {
                 motor_out[i] = _rc_throttle->radio_min + _spin_when_armed;

libraries/AP_Motors/AP_MotorsTri.cpp

@@ -89,6 +89,9 @@ void AP_MotorsTri::output_armed()
         if (_spin_when_armed < 0) {
             _spin_when_armed = 0;
         }
+        if (_spin_when_armed > _min_throttle) {
+            _spin_when_armed = _min_throttle;
+        }
         motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_min + _spin_when_armed;
         motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_min + _spin_when_armed;
         motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_min + _spin_when_armed;