AP_Motors:Heli - remove H_LAND_COL_MIN and replace with H_COL_MID

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -81,14 +81,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("RSC_MODE", 8, AP_MotorsHeli, _rsc_mode, (int8_t)ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH),
 
-    // @Param: LAND_COL_MIN
-    // @DisplayName: Landing Collective Minimum
-    // @Description: Minimum collective position in PWM microseconds while landed or landing
-    // @Range: 0 500
-    // @Units: PWM
-    // @Increment: 1
-    // @User: Standard
-    AP_GROUPINFO("LAND_COL_MIN", 9, AP_MotorsHeli, _land_collective_min, AP_MOTORS_HELI_LAND_COLLECTIVE_MIN),
+    // index 9 was LAND_COL_MIN. Do not use this index in the future.
 
     // @Param: RSC_RAMP_TIME
     // @DisplayName: RSC Ramp Time

libraries/AP_Motors/AP_MotorsHeli.h

@@ -20,9 +20,6 @@
 #define AP_MOTORS_HELI_COLLECTIVE_MAX           1750
 #define AP_MOTORS_HELI_COLLECTIVE_MID           1500
 
-// swash min while landed or landing (as a number from 0 ~ 1000
-#define AP_MOTORS_HELI_LAND_COLLECTIVE_MIN      0
-
 // default main rotor speed (ch8 out) as a number from 0 ~ 1000
 #define AP_MOTORS_HELI_RSC_SETPOINT             700
 
@@ -217,7 +214,6 @@ protected:
     AP_Int8         _rsc_mode;                  // Which main rotor ESC control mode is active
     AP_Int8         _rsc_ramp_time;             // Time in seconds for the output to the main rotor's ESC to reach setpoint
     AP_Int8         _rsc_runup_time;            // Time in seconds for the main rotor to reach full speed.  Must be longer than _rsc_ramp_time
-    AP_Int16        _land_collective_min;       // Minimum collective when landed or landing
     AP_Int16        _rsc_critical;              // Rotor speed below which flight is not possible
     AP_Int16        _rsc_idle_output;           // Rotor control output while at idle
     AP_Int16        _rsc_slewrate;              // throttle slew rate (percentage per second)

libraries/AP_Motors/AP_MotorsHeli_Dual.cpp

@@ -440,8 +440,8 @@ void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float c
     }
 
     // ensure not below landed/landing collective
-    if (_heliflags.landing_collective && collective_out < (_land_collective_min*0.001f)) {
-        collective_out = _land_collective_min*0.001f;
+    if (_heliflags.landing_collective && collective_out < _collective_mid_pct) {
+        collective_out = _collective_mid_pct;
         limit.throttle_lower = true;
     }
 

libraries/AP_Motors/AP_MotorsHeli_Quad.cpp

@@ -228,8 +228,8 @@ void AP_MotorsHeli_Quad::move_actuators(float roll_out, float pitch_out, float c
     }
 
     // ensure not below landed/landing collective
-    if (_heliflags.landing_collective && collective_out < (_land_collective_min*0.001f)) {
-        collective_out = _land_collective_min*0.001f;
+    if (_heliflags.landing_collective && collective_out < _collective_mid_pct) {
+        collective_out = _collective_mid_pct;
         limit.throttle_lower = true;
     }
 

libraries/AP_Motors/AP_MotorsHeli_Single.cpp

@@ -365,8 +365,8 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
     }
 
     // ensure not below landed/landing collective
-    if (_heliflags.landing_collective && collective_out < (_land_collective_min*0.001f)) {
-        collective_out = (_land_collective_min*0.001f);
+    if (_heliflags.landing_collective && collective_out < _collective_mid_pct) {
+        collective_out = _collective_mid_pct;
         limit.throttle_lower = true;
     }