Copter: update_thr_average uses 0 to 1 range

ArduCopter/Attitude.cpp

@@ -100,7 +100,7 @@ void Copter::update_thr_average()
 {
     // ensure throttle_average has been initialised
     if( is_zero(throttle_average) ) {
-        throttle_average = g.throttle_mid;
+        throttle_average = 0.5f;
         // update position controller
         pos_control.set_throttle_hover(throttle_average);
     }
@@ -114,7 +114,7 @@ void Copter::update_thr_average()
     float throttle = motors.get_throttle();
 
     // calc average throttle if we are in a level hover
-    if (throttle > g.throttle_min && abs(climb_rate) < 60 && labs(ahrs.roll_sensor) < 500 && labs(ahrs.pitch_sensor) < 500) {
+    if (throttle > 0.0f && abs(climb_rate) < 60 && labs(ahrs.roll_sensor) < 500 && labs(ahrs.pitch_sensor) < 500) {
         throttle_average = throttle_average * 0.99f + throttle * 0.01f;
         // update position controller
         pos_control.set_throttle_hover(throttle_average);