Commander: remove permanent stabilization option for fixed-wing flight

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -131,7 +131,6 @@ param set-default VT_F_TRANS_DUR 1
 param set-default VT_IDLE_PWM_MC 1025
 param set-default VT_B_REV_OUT 0.5
 param set-default VT_B_TRANS_THR 0.7
-param set-default VT_FW_PERM_STAB 1
 param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4
 

msg/vehicle_status.msg

@@ -75,7 +75,6 @@ uint8 vehicle_type          # Type of vehicle (fixed-wing, rotary wing, ground)
 
 bool is_vtol				# True if the system is VTOL capable
 bool is_vtol_tailsitter                 # True if the system performs a 90° pitch down rotation during transition from MC to FW
-bool vtol_fw_permanent_stab		# True if VTOL should stabilize attitude for fw in manual mode
 bool in_transition_mode			# True if VTOL is doing a transition
 bool in_transition_to_fw		# True if VTOL is doing a transition from MC to FW
 

msg/vtol_vehicle_status.msg

@@ -11,4 +11,3 @@ bool vtol_in_rw_mode			# true: vtol vehicle is in rotating wing mode
 bool vtol_in_trans_mode
 bool in_transition_to_fw		# True if VTOL is doing a transition from MC to FW
 bool vtol_transition_failsafe		# vtol in transition failsafe mode
-bool fw_permanent_stab			# In fw mode stabilize attitude even if in manual mode

src/modules/commander/Commander.cpp

@@ -2300,7 +2300,6 @@ Commander::run()
 		if (_vtol_vehicle_status_sub.updated()) {
 			/* vtol status changed */
 			_vtol_vehicle_status_sub.copy(&_vtol_status);
-			_status.vtol_fw_permanent_stab = _vtol_status.fw_permanent_stab;
 
 			/* Make sure that this is only adjusted if vehicle really is of type vtol */
 			if (is_vtol(_status)) {
@@ -3536,11 +3535,7 @@ Commander::update_control_mode()
 bool
 Commander::stabilization_required()
 {
-	return (_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ||		// is a rotary wing, or
-		_status.vtol_fw_permanent_stab || 	// is a VTOL in fixed wing mode and stabilisation is on, or
-		(_vtol_status.vtol_in_trans_mode && 	// is currently a VTOL transitioning AND
-		 _status.vehicle_type ==
-		 vehicle_status_s::VEHICLE_TYPE_FIXED_WING));	// is a fixed wing, ie: transitioning back to rotary wing mode
+	return _status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
 }
 
 void

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -234,8 +234,6 @@ VtolAttitudeControl::parameters_update()
 		if (_vtol_type != nullptr) {
 			_vtol_type->parameters_update();
 		}
-
-		_vtol_vehicle_status.fw_permanent_stab = _param_vt_fw_perm_stab.get();
 	}
 }
 

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -232,7 +232,6 @@ private:
 	void 		parameters_update();
 
 	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::VT_TYPE>) _param_vt_type,
-		(ParamBool<px4::params::VT_FW_PERM_STAB>) _param_vt_fw_perm_stab
+		(ParamInt<px4::params::VT_TYPE>) _param_vt_type
 	)
 };

src/modules/vtol_att_control/vtol_att_control_params.c

@@ -51,17 +51,6 @@
  */
 PARAM_DEFINE_INT32(VT_IDLE_PWM_MC, 900);
 
-/**
- * Permanent stabilization in fw mode
- *
- * If set to one this parameter will cause permanent attitude stabilization in fw mode.
- * This parameter has been introduced for pure convenience sake.
- *
- * @boolean
- * @group VTOL Attitude Control
- */
-PARAM_DEFINE_INT32(VT_FW_PERM_STAB, 0);
-
 /**
  * VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)
  *