Plane: Use tecs to control the throttle during takeoff

ArduPlane/ArduPlane.pde

@@ -1195,9 +1195,8 @@ static void handle_auto_mode(void)
     case MAV_CMD_NAV_TAKEOFF:
         takeoff_calc_roll();
         takeoff_calc_pitch();
-        
-        // max throttle for takeoff
-        channel_throttle->servo_out = takeoff_throttle();
+        calc_throttle();
+
         break;
 
     case MAV_CMD_NAV_LAND:

ArduPlane/Attitude.pde

@@ -805,7 +805,11 @@ static void set_servos(void)
             min_throttle = 0;
         }
         if (control_mode == AUTO && flight_stage == AP_SpdHgtControl::FLIGHT_TAKEOFF) {
-            max_throttle = takeoff_throttle();
+            if(aparm.takeoff_throttle_max != 0) {
+                max_throttle = aparm.takeoff_throttle_max;
+            } else {
+                max_throttle = aparm.throttle_max;
+            }
         }
         channel_throttle->servo_out = constrain_int16(channel_throttle->servo_out, 
                                                       min_throttle,

ArduPlane/Parameters.h

@@ -464,7 +464,6 @@ public:
     AP_Float takeoff_tdrag_speed1;
     AP_Float takeoff_rotate_speed;
     AP_Int8 takeoff_throttle_slewrate;
-    AP_Int8 takeoff_throttle_max;
     AP_Int8 level_roll_limit;
     AP_Int8 flapin_channel;
     AP_Int8 flaperon_output;

ArduPlane/Parameters.pde

@@ -453,7 +453,7 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Range: 0 100
     // @Increment: 1
     // @User: Advanced
-    GSCALAR(takeoff_throttle_max,   "TKOFF_THR_MAX",        0),
+    ASCALAR(takeoff_throttle_max,   "TKOFF_THR_MAX",        0),
 
     // @Param: THR_SLEWRATE
     // @DisplayName: Throttle slew rate

ArduPlane/takeoff.pde

@@ -170,13 +170,3 @@ return_zero:
     return 0;
 }
 
-/*
-  return throttle percentage for takeoff
- */
-static uint8_t takeoff_throttle(void)
-{
-    if (g.takeoff_throttle_max != 0) {
-        return g.takeoff_throttle_max;
-    }
-    return aparm.throttle_max;
-}