AC_AttitudeControl: AC_PosControl: Remove velocity override

libraries/AC_AttitudeControl/AC_PosControl.cpp

@@ -609,14 +609,9 @@ void AC_PosControl::update_xy_controller()
 
     // Velocity Controller
 
-    // check if vehicle velocity is being overridden
-    // todo: remove this and use input shaping
-    if (_flags.vehicle_horiz_vel_override) {
-        _flags.vehicle_horiz_vel_override = false;
-    } else {
-        _vehicle_horiz_vel = _inav.get_velocity_xy_cms();
-    }
-    Vector2f accel_target = _pid_vel_xy.update_all(_vel_target.xy(), _vehicle_horiz_vel, _limit_vector.xy());
+    const Vector2f &curr_vel = _inav.get_velocity_xy_cms();
+    Vector2f accel_target = _pid_vel_xy.update_all(_vel_target.xy(), curr_vel, _limit_vector.xy());
+    
     // acceleration to correct for velocity error and scale PID output to compensate for optical flow measurement induced EKF noise
     accel_target *= ahrsControlScaleXY;
 

libraries/AC_AttitudeControl/AC_PosControl.h

@@ -354,9 +354,6 @@ public:
     ///     this prevents integrator buildup
     void set_externally_limited_xy() { _limit_vector.x = _accel_target.x; _limit_vector.y = _accel_target.y; }
 
-    // overrides the velocity process variable for one timestep
-    void override_vehicle_velocity_xy(const Vector2f& vel_xy) { _vehicle_horiz_vel = vel_xy; _flags.vehicle_horiz_vel_override = true; }
-
     // lean_angles_to_accel - convert roll, pitch lean angles to lat/lon frame accelerations in cm/s/s
     Vector3f lean_angles_to_accel(const Vector3f& att_target_euler) const;
 
@@ -387,11 +384,6 @@ public:
 
 protected:
 
-    // general purpose flags
-    struct poscontrol_flags {
-            uint16_t vehicle_horiz_vel_override : 1; // 1 if we should use _vehicle_horiz_vel as our velocity process variable for one timestep
-    } _flags;
-
     // get throttle using vibration-resistant calculation (uses feed forward with manually calculated gain)
     float get_throttle_with_vibration_override();
 
@@ -458,7 +450,7 @@ protected:
     Vector3f    _accel_desired;         // desired acceleration in NEU cm/s/s (feed forward)
     Vector3f    _accel_target;          // acceleration target in NEU cm/s/s
     Vector3f    _limit_vector;          // the direction that the position controller is limited, zero when not limited
-    Vector2f    _vehicle_horiz_vel;     // velocity to use if _flags.vehicle_horiz_vel_override is set
+
     float       _pos_offset_target_z;   // vertical position offset target, frame NEU in cm relative to the EKF origin
     float       _pos_offset_z;          // vertical position offset, frame NEU in cm relative to the EKF origin
     float       _vel_offset_z;          // vertical velocity offset in NEU cm/s calculated by pos_to_rate step