Copter: remove param to disable accel based throttle controller

ArduCopter/Attitude.pde

@@ -404,7 +404,7 @@ run_rate_controllers()
 #endif
 
     // run throttle controller if accel based throttle controller is enabled and active (active means it has been given a target)
-    if( g.throttle_accel_enabled && throttle_accel_controller_active ) {
+    if( throttle_accel_controller_active ) {
         set_throttle_out(get_throttle_accel(throttle_accel_target_ef), true);
     }
 }
@@ -938,13 +938,8 @@ void set_throttle_out( int16_t throttle_out, bool apply_angle_boost )
 // set_throttle_accel_target - to be called by upper throttle controllers to set desired vertical acceleration in earth frame
 void set_throttle_accel_target( int16_t desired_acceleration )
 {
-    if( g.throttle_accel_enabled ) {
-        throttle_accel_target_ef = desired_acceleration;
-        throttle_accel_controller_active = true;
-    }else{
-        // To-Do log dataflash or tlog error
-        cliSerial->print_P(PSTR("Err: target sent to inactive acc thr controller!\n"));
-    }
+    throttle_accel_target_ef = desired_acceleration;
+    throttle_accel_controller_active = true;
 }
 
 // disable_throttle_accel - disables the accel based throttle controller
@@ -1154,13 +1149,8 @@ get_throttle_rate(float z_target_speed)
     }
 #endif
 
-    // send output to accelerometer based throttle controller if enabled otherwise send directly to motors
-    if( g.throttle_accel_enabled ) {
-        // set target for accel based throttle controller
-        set_throttle_accel_target(output);
-    }else{
-        set_throttle_out(g.throttle_cruise+output, true);
-    }
+    // set target for accel based throttle controller
+    set_throttle_accel_target(output);
 
     // update throttle cruise
     // TO-DO: this may not be correct because g.rc_3.servo_out has not been updated for this iteration

ArduCopter/Parameters.h

@@ -80,7 +80,7 @@ public:
 
         k_param_crosstrack_min_distance,	// deprecated - remove with next eeprom number change
         k_param_rssi_pin,
-        k_param_throttle_accel_enabled,
+        k_param_throttle_accel_enabled,     // deprecated - remove
         k_param_wp_yaw_behavior,
         k_param_acro_trainer_enabled,
         k_param_pilot_velocity_z_max,
@@ -295,7 +295,6 @@ public:
     AP_Int8         battery_volt_pin;
     AP_Int8         battery_curr_pin;
     AP_Int8         rssi_pin;
-    AP_Int8         throttle_accel_enabled;      // enable/disable accel based throttle controller
     AP_Int8         wp_yaw_behavior;            // controls how the autopilot controls yaw during missions
 
     // Waypoints

ArduCopter/Parameters.pde

@@ -191,13 +191,6 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Standard
     GSCALAR(rssi_pin,            "RSSI_PIN",         -1),
 
-    // @Param: THR_ACC_ENABLE
-    // @DisplayName: Enable Accel based throttle controller
-    // @Description: This allows enabling and disabling the accelerometer based throttle controller.  If disabled a velocity based controller is used.
-    // @Values: 0:Disabled, 1:Enabled
-    // @User: Standard
-    GSCALAR(throttle_accel_enabled,  "THR_ACC_ENABLE",   1),
-
     // @Param: WP_YAW_BEHAVIOR
     // @DisplayName: Yaw behaviour during missions
     // @Description: Determines how the autopilot controls the yaw during missions and RTL