Copter: remove LAND_REQUIRE_MIN_THROTTLE_TO_DISARM feature

This definition has been false for over a year and we have not heard of any users wanting to delay the disarming until the pilot's throttle goes to zero.  Removing this feature removes a small bit of complexity from the code.

ArduCopter/APM_Config.h

@@ -45,7 +45,6 @@
 
 // other settings
 //#define THROTTLE_IN_DEADBAND   100                // redefine size of throttle deadband in pwm (0 ~ 1000)
-//#define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM   ENABLED    // when set to ENABLED vehicle will only disarm after landing (in AUTO, LAND or RTL) if pilot has put throttle to zero
 
 //#define HIL_MODE              HIL_MODE_SENSORS    // build for hardware-in-the-loop simulation
 

ArduCopter/commands_logic.cpp

@@ -253,15 +253,8 @@ void Copter::exit_mission()
             set_mode(LAND, MODE_REASON_MISSION_END);
         }
     }else{
-#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
-        // disarm when the landing detector says we've landed and throttle is at minimum
-        if (ap.throttle_zero || failsafe.radio) {
-            init_disarm_motors();
-        }
-#else
         // if we've landed it's safe to disarm
         init_disarm_motors();
-#endif
     }
 }
 

ArduCopter/config.h

@@ -365,9 +365,6 @@
 #ifndef LAND_START_ALT
  # define LAND_START_ALT 1000         // altitude in cm where land controller switches to slow rate of descent
 #endif
-#ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM
- # define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM DISABLED  // we do not require pilot to reduce throttle to minimum before vehicle will disarm in AUTO, LAND or RTL
-#endif
 #ifndef LAND_REPOSITION_DEFAULT
  # define LAND_REPOSITION_DEFAULT   1   // by default the pilot can override roll/pitch during landing
 #endif

ArduCopter/control_land.cpp

@@ -66,17 +66,10 @@ void Copter::land_gps_run()
 #endif
         wp_nav.init_loiter_target();
 
-#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
-        // disarm when the landing detector says we've landed and throttle is at minimum
-        if (ap.land_complete && (ap.throttle_zero || failsafe.radio)) {
-            init_disarm_motors();
-        }
-#else
         // disarm when the landing detector says we've landed
         if (ap.land_complete) {
             init_disarm_motors();
         }
-#endif
         return;
     }
     
@@ -132,17 +125,10 @@ void Copter::land_nogps_run()
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
 
-#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
-        // disarm when the landing detector says we've landed and throttle is at minimum
-        if (ap.land_complete && (ap.throttle_zero || failsafe.radio)) {
-            init_disarm_motors();
-        }
-#else
         // disarm when the landing detector says we've landed
         if (ap.land_complete) {
             init_disarm_motors();
         }
-#endif
         return;
     }
 

ArduCopter/control_rtl.cpp

@@ -375,17 +375,10 @@ void Copter::rtl_land_run()
         // set target to current position
         wp_nav.init_loiter_target();
 
-#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
-        // disarm when the landing detector says we've landed and throttle is at minimum
-        if (ap.land_complete && (ap.throttle_zero || failsafe.radio)) {
-            init_disarm_motors();
-        }
-#else
         // disarm when the landing detector says we've landed
         if (ap.land_complete) {
             init_disarm_motors();
         }
-#endif
 
         // check if we've completed this stage of RTL
         rtl_state_complete = ap.land_complete;