Sub: stop using custom pos controller

ArduSub/ArduSub.cpp

@@ -275,9 +275,6 @@ void Sub::one_hz_loop()
     // update assigned functions and enable auxiliary servos
     SRV_Channels::enable_aux_servos();
 
-    // update position controller alt limits
-    update_poscon_alt_max();
-
     // log terrain data
     terrain_logging();
 

ArduSub/Attitude.cpp

@@ -163,29 +163,6 @@ float Sub::get_surface_tracking_climb_rate(int16_t target_rate, float current_al
 #endif
 }
 
-// updates position controller's maximum altitude using fence and EKF limits
-void Sub::update_poscon_alt_max()
-{
-    // minimum altitude, ie. maximum depth
-    // interpreted as no limit if left as zero
-    float min_alt_cm = 0.0;
-
-    // no limit if greater than 100, a limit is necessary,
-    // or the vehicle will try to fly out of the water
-    float max_alt_cm = g.surface_depth; // minimum depth
-
-#if AC_FENCE == ENABLED
-    // set fence altitude limit in position controller
-    if ((fence.get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX) != 0) {
-        min_alt_cm = fence.get_safe_alt_min()*100.0f;
-        max_alt_cm = fence.get_safe_alt_max()*100.0f;
-    }
-#endif
-    // pass limit to pos controller
-    pos_control.set_alt_min(min_alt_cm);
-    pos_control.set_alt_max(max_alt_cm);
-}
-
 // rotate vector from vehicle's perspective to North-East frame
 void Sub::rotate_body_frame_to_NE(float &x, float &y)
 {

ArduSub/Sub.h

@@ -46,7 +46,7 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Mission/AP_Mission.h>         // Mission command library
 #include <AC_AttitudeControl/AC_AttitudeControl_Sub.h> // Attitude control library
-#include <AC_AttitudeControl/AC_PosControl_Sub.h>      // Position control library
+#include <AC_AttitudeControl/AC_PosControl.h>      // Position control library
 #include <AP_Motors/AP_Motors.h>          // AP Motors library
 #include <Filter/Filter.h>             // Filter library
 #include <AP_Relay/AP_Relay.h>           // APM relay
@@ -328,7 +328,7 @@ private:
     // To-Do: move inertial nav up or other navigation variables down here
     AC_AttitudeControl_Sub attitude_control;
 
-    AC_PosControl_Sub pos_control;
+    AC_PosControl pos_control;
 
     AC_WPNav wp_nav;
     AC_Loiter loiter_nav;
@@ -401,7 +401,6 @@ private:
     float get_look_ahead_yaw();
     float get_pilot_desired_climb_rate(float throttle_control);
     float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
-    void update_poscon_alt_max();
     void rotate_body_frame_to_NE(float &x, float &y);
     void Log_Write_Control_Tuning();
     void Log_Write_Attitude();