From dec93231274007d5149371dd0aa59ef782c6a7de Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Thu, 9 Jun 2016 21:48:21 +0900
Subject: [PATCH] Copter: remove THR_MIN

Equivalent is AP_Motors SPIN_MIN
---
 ArduCopter/ArduCopter.cpp | 2 +-
 ArduCopter/Parameters.cpp | 9 ---------
 ArduCopter/Parameters.h   | 3 +--
 ArduCopter/config.h       | 4 ----
 ArduCopter/radio.cpp      | 2 +-
 5 files changed, 3 insertions(+), 17 deletions(-)

diff --git a/ArduCopter/ArduCopter.cpp b/ArduCopter/ArduCopter.cpp
index 51a3dc5293..492dd4b49f 100644
--- a/ArduCopter/ArduCopter.cpp
+++ b/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
     }
 
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 9477b0ce37..035aee2168 100644
--- a/ArduCopter/Parameters.cpp
+++ b/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
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 783dbc0a6c..1f8dfd2971 100644
--- a/ArduCopter/Parameters.h
+++ b/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;
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 015643fdd9..3b1f54c3ab 100644
--- a/ArduCopter/config.h
+++ b/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
diff --git a/ArduCopter/radio.cpp b/ArduCopter/radio.cpp
index 3465b10457..817bc257dd 100644
--- a/ArduCopter/radio.cpp
+++ b/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++) {