Copter: sport uses throttle in 0 to 1 range and sets motor spool state

ArduCopter/control_sport.cpp

@@ -33,7 +33,8 @@ void Copter::sport_run()
     pos_control.set_accel_z(g.pilot_accel_z);
 
     // if not armed or throttle at zero, set throttle to zero and exit immediately
-    if(!motors.armed() || ap.throttle_zero) {
+    if (!motors.armed() || ap.throttle_zero || !motors.get_interlock()) {
+        motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
         return;
@@ -91,10 +92,17 @@ void Copter::sport_run()
 
     // reset target lean angles and heading while landed
     if (ap.land_complete) {
+        if (ap.throttle_zero) {
+            motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
+        }else{
+            motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
+        }
         // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
-        attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(channel_throttle->control_in),true,g.throttle_filt);
+        attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
         pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
     }else{
+        // set motors to full range
+        motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
 
         // call attitude controller
         attitude_control.input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);