diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 70dee0bf8c..c5955ea3b1 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -2004,13 +2004,8 @@ void update_throttle_mode(void)
             get_throttle_althold_with_slew(wp_nav.get_desired_alt(), -wp_nav.get_descent_velocity(), wp_nav.get_climb_velocity());
             set_target_alt_for_reporting(wp_nav.get_desired_alt()); // To-Do: return get_destination_alt if we are flying to a waypoint
         }else{
-#if FRAME_CONFIG == HELI_FRAME
-            // collective pitch should not be full negative to avoid harshing the mechanics. Use Stab Coll Min.
-            set_throttle_out(motors.get_manual_collective_min(), false);
-#else
             // pilot's throttle must be at zero so keep motors off
             set_throttle_out(0, false);
-#endif // HELI_FRAME
             // deactivate accel based throttle controller
             throttle_accel_deactivate();
             set_target_alt_for_reporting(0);
diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index d2e497bc01..ec546eac4b 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -917,17 +917,7 @@ get_throttle_accel(int16_t z_target_accel)
 
     d = g.pid_throttle_accel.get_d(z_accel_error, .01f);
 
-#if FRAME_CONFIG == HELI_FRAME
-    if (ap.takeoff_complete == true){
-        output =  constrain_float(p+i+d+g.throttle_cruise, g.throttle_min, g.throttle_max);
-    } else {
-        // Avoid harshing the mechanics pushing into the ground
-        // stab_col_min should gently push down on the ground
-        output =  constrain_float(p+i+d+g.throttle_cruise, motors.get_manual_collective_min(), motors.get_manual_collective_max());
-    }   
-#else   
     output =  constrain_float(p+i+d+g.throttle_cruise, g.throttle_min, g.throttle_max);
-#endif // HELI_FRAME         
 
 #if LOGGING_ENABLED == ENABLED
     // log output if PID loggins is on and we are tuning the yaw