Copter: disarm on land even if pilot throttle not zero

default behaviour remains as before, this is an compile time option only

ArduCopter/APM_Config.h

@@ -34,8 +34,9 @@
 //#define SPRAYER               ENABLED             // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
 //#define EPM_ENABLED           ENABLED             // enable epm cargo gripper costs 500bytes of flash
 
-// redefine size of throttle deadband in pwm (0 ~ 1000)
-//#define THROTTLE_IN_DEADBAND   100
+// other settings
+//#define THROTTLE_IN_DEADBAND   100                // redefine size of throttle deadband in pwm (0 ~ 1000)
+//#define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM   DISABLED    // when set to DISABLED vehicle will disarm after landing (in LAND mode or RTL) even if pilot has not put throttle to zero
 
 //#define HIL_MODE              HIL_MODE_SENSORS    // build for hardware-in-the-loop simulation
 

ArduCopter/Attitude.pde

@@ -1094,7 +1094,11 @@ get_throttle_land()
         get_throttle_rate_stabilized(-abs(g.land_speed));
 
         // disarm when the landing detector says we've landed and throttle is at min (or we're in failsafe so we have no pilot thorottle input)
+#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
         if( ap.land_complete && (g.rc_3.control_in == 0 || failsafe.radio) ) {
+#else
+        if (ap.land_complete) {
+#endif
             init_disarm_motors();
         }
     }

ArduCopter/config.h

@@ -464,6 +464,9 @@
 #ifndef LAND_DETECTOR_TRIGGER
  # define LAND_DETECTOR_TRIGGER 50    // number of 50hz iterations with near zero climb rate and low throttle that triggers landing complete.
 #endif
+#ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM // require pilot to reduce throttle to minimum before vehicle will disarm
+ # define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM ENABLED
+#endif
 
 //////////////////////////////////////////////////////////////////////////////
 // CAMERA TRIGGER AND CONTROL