remove auto throttle

src/config/config.h

@@ -217,9 +217,6 @@
 // *************retune it back up to where it feels good.  I'm finding about 60 to 65% of my previous D value seems to work.
 // #define TORQUE_BOOST 1.0
 
-// *************throttle angle compensation in level mode
-// #define AUTO_THROTTLE
-
 // *************BRUSHED TARGET MIXER SETTINGS
 // *************MIX_THROTTLE_REDUCTION_PERCENT reduces thrust imbalances by reducing throttle proportionally to the adjustable reduction percent to the limit set by MIX_THROTTLE_REDUCTION_MAX
 // *************MIX_THROTTLE_INCREASE_MAX increases the authority of the pid controller at lowest throttle values like airmode when combined with idle up

src/flight/control.c

@@ -100,25 +100,6 @@ CBOR_END_STRUCT_ENCODER()
 #undef ARRAY_MEMBER
 #undef STR_ARRAY_MEMBER
 
-// throttle angle compensation
-static void auto_throttle() {
-#ifdef AUTO_THROTTLE
-  // float autothrottle = fastcos(state.attitude.axis[0] * DEGTORAD) * fastcos(state.attitude.axis[1] * DEGTORAD);
-  float autothrottle = state.GEstG.axis[2];
-  float old_throttle = state.throttle;
-  if (autothrottle <= 0.5f)
-    autothrottle = 0.5f;
-  state.throttle = state.throttle / autothrottle;
-  // limit to 90%
-  if (old_throttle < 0.9f)
-    if (state.throttle > 0.9f)
-      state.throttle = 0.9f;
-
-  if (state.throttle > 1.0f)
-    state.throttle = 1.0f;
-#endif
-}
-
 static void control_flight_mode() {
   // flight control
   const vec3_t rates = input_rates_calc();
@@ -430,10 +411,6 @@ void control() {
         state.throttle += (float)(profile.motor.throttle_boost) * throttlehpf(state.throttle);
         state.throttle = constrain(state.throttle, 0.0f, 1.0f);
       }
-
-      if (rx_aux_on(AUX_LEVELMODE)) {
-        auto_throttle();
-      }
     }
 
     motor_mixer_calc(state.motor_mix.axis);