Copter: remove THR_MID

ArduCopter/Attitude.cpp

@@ -143,8 +143,8 @@ float Copter::get_pilot_desired_throttle(int16_t throttle_control)
 
     // ensure reasonable throttle values
     throttle_control = constrain_int16(throttle_control,0,1000);
+
     // ensure mid throttle is set within a reasonable range
-    g.throttle_mid = constrain_int16(g.throttle_mid,g.throttle_min+50,700);
     float thr_mid = constrain_float(motors.get_throttle_hover(), 0.1f, 0.9f);
 
     // check throttle is above, below or in the deadband
@@ -203,8 +203,6 @@ float Copter::get_pilot_desired_climb_rate(float throttle_control)
 // get_non_takeoff_throttle - a throttle somewhere between min and mid throttle which should not lead to a takeoff
 float Copter::get_non_takeoff_throttle()
 {
-    // ensure mid throttle is set within a reasonable range
-    g.throttle_mid = constrain_int16(g.throttle_mid,g.throttle_min+50,700);
     return MAX(0,motors.get_throttle_hover()/2.0f);
 }
 

ArduCopter/Parameters.cpp

@@ -294,15 +294,6 @@ const AP_Param::Info Copter::var_info[] = {
     // @User: Standard
     GSCALAR(failsafe_throttle_value, "FS_THR_VALUE",      FS_THR_VALUE_DEFAULT),
 
-    // @Param: THR_MID
-    // @DisplayName: Throttle Mid Position
-    // @Description: The throttle output (0 ~ 1000) when throttle stick is in mid position.  Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover
-    // @User: Standard
-    // @Range: 300 700
-    // @Units: Percent*10
-    // @Increment: 10
-    GSCALAR(throttle_mid,        "THR_MID",    THR_MID_DEFAULT),
-
     // @Param: THR_DZ
     // @DisplayName: Throttle deadzone
     // @Description: The deadzone above and below mid throttle.  Used in AltHold, Loiter, PosHold flight modes

ArduCopter/Parameters.h

@@ -292,7 +292,7 @@ public:
         k_param_radio_tuning_low,
         k_param_rc_speed = 192,
         k_param_failsafe_battery_enabled,
-        k_param_throttle_mid,
+        k_param_throttle_mid,           // remove
         k_param_failsafe_gps_enabled,   // remove
         k_param_rc_9,
         k_param_rc_12,
@@ -416,7 +416,6 @@ public:
     //
     AP_Int8         failsafe_throttle;
     AP_Int16        failsafe_throttle_value;
-    AP_Int16        throttle_mid;
     AP_Int16        throttle_deadzone;
 
     // Flight modes

ArduCopter/config.h

@@ -547,9 +547,6 @@
 //////////////////////////////////////////////////////////////////////////////
 // Throttle control gains
 //
-#ifndef THR_MID_DEFAULT
- # define THR_MID_DEFAULT       500             // Throttle output (0 ~ 1000) when throttle stick is in mid position
-#endif
 
 #ifndef THR_DZ_DEFAULT
 # define THR_DZ_DEFAULT         100             // the deadzone above and below mid throttle while in althold or loiter