Copter: remove THR_MIN

Equivalent is AP_Motors SPIN_MIN

ArduCopter/ArduCopter.cpp

@@ -476,9 +476,9 @@ void Copter::one_hz_loop()
         motors.set_frame_orientation(g.frame_orientation);
 
         // set all throttle channel settings
-        motors.set_throttle_range(g.throttle_min, channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
         // set hover throttle
         motors.set_hover_throttle(g.throttle_mid);
+        motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
 #endif
     }
 

ArduCopter/Parameters.cpp

@@ -278,15 +278,6 @@ const AP_Param::Info Copter::var_info[] = {
     // @User: Standard
     GSCALAR(pilot_accel_z,  "PILOT_ACCEL_Z",    PILOT_ACCEL_Z_DEFAULT),
 
-    // @Param: THR_MIN
-    // @DisplayName: Throttle Minimum
-    // @Description: The minimum throttle that will be sent to the motors to keep them spinning
-    // @Units: Percent*10
-    // @Range: 0 300
-    // @Increment: 1
-    // @User: Standard
-    GSCALAR(throttle_min,   "THR_MIN",          THR_MIN_DEFAULT),
-
     // @Param: FS_THR_ENABLE
     // @DisplayName: Throttle Failsafe Enable
     // @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel

ArduCopter/Parameters.h

@@ -280,7 +280,7 @@ public:
         k_param_rc_8,
         k_param_rc_10,
         k_param_rc_11,
-        k_param_throttle_min,
+        k_param_throttle_min,           // remove
         k_param_throttle_max,           // remove
         k_param_failsafe_throttle,
         k_param_throttle_fs_action,     // remove
@@ -414,7 +414,6 @@ public:
 
     // Throttle
     //
-    AP_Int16        throttle_min;
     AP_Int8         failsafe_throttle;
     AP_Int16        failsafe_throttle_value;
     AP_Int16        throttle_mid;

ArduCopter/config.h

@@ -551,10 +551,6 @@
  # define THR_MID_DEFAULT       500             // Throttle output (0 ~ 1000) when throttle stick is in mid position
 #endif
 
-#ifndef THR_MIN_DEFAULT
- # define THR_MIN_DEFAULT       130             // minimum throttle sent to the motors when armed and pilot throttle above zero
-#endif
-
 #ifndef THR_DZ_DEFAULT
 # define THR_DZ_DEFAULT         100             // the deadzone above and below mid throttle while in althold or loiter
 #endif

ArduCopter/radio.cpp

@@ -59,8 +59,8 @@ void Copter::init_rc_out()
     motors.set_loop_rate(scheduler.get_loop_rate_hz());
     motors.Init();                                              // motor initialisation
 #if FRAME_CONFIG != HELI_FRAME
-    motors.set_throttle_range(g.throttle_min, channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
     motors.set_hover_throttle(g.throttle_mid);
+    motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
 #endif
 
     for(uint8_t i = 0; i < 5; i++) {