Copter: Loiter stabilizes roll and pitch while landed

ArduCopter/control_loiter.cpp

@@ -156,21 +156,16 @@ void Copter::loiter_run()
     case Loiter_Landed:
 
         wp_nav.init_loiter_target();
-#if FRAME_CONFIG == HELI_FRAME  // Helicopters always stabilize roll/pitch/yaw
         // call attitude controller
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
+        // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
         attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
-#else
         // if throttle zero reset attitude and exit immediately
         if (ap.throttle_zero) {
             motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
-        }else{
+        } else {
             motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
         }
-        // multicopters do not stabilize roll/pitch/yaw when disarmed
-        // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
-        attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
-#endif
         pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
         break;