delete RATTITUDE flight mode

.vscode/settings.json

@@ -27,7 +27,6 @@
         "cSpell.showStatus": false,
         "cSpell.words": [
                 "acro",
-                "rattitude",
                 "nuttx",
                 "esc"
         ],

msg/commander_state.msg

@@ -1,21 +1,21 @@
 # Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
 uint64 timestamp			# time since system start (microseconds)
 
-uint8 MAIN_STATE_MANUAL = 0
-uint8 MAIN_STATE_ALTCTL = 1
-uint8 MAIN_STATE_POSCTL = 2
-uint8 MAIN_STATE_AUTO_MISSION = 3
-uint8 MAIN_STATE_AUTO_LOITER = 4
-uint8 MAIN_STATE_AUTO_RTL = 5
-uint8 MAIN_STATE_ACRO = 6
-uint8 MAIN_STATE_OFFBOARD = 7
-uint8 MAIN_STATE_STAB = 8
-uint8 MAIN_STATE_RATTITUDE = 9
-uint8 MAIN_STATE_AUTO_TAKEOFF = 10
-uint8 MAIN_STATE_AUTO_LAND = 11
+uint8 MAIN_STATE_MANUAL             = 0
+uint8 MAIN_STATE_ALTCTL             = 1
+uint8 MAIN_STATE_POSCTL             = 2
+uint8 MAIN_STATE_AUTO_MISSION       = 3
+uint8 MAIN_STATE_AUTO_LOITER        = 4
+uint8 MAIN_STATE_AUTO_RTL           = 5
+uint8 MAIN_STATE_ACRO               = 6
+uint8 MAIN_STATE_OFFBOARD           = 7
+uint8 MAIN_STATE_STAB               = 8
+# LEGACY RATTITUDE                  = 9
+uint8 MAIN_STATE_AUTO_TAKEOFF       = 10
+uint8 MAIN_STATE_AUTO_LAND          = 11
 uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
-uint8 MAIN_STATE_AUTO_PRECLAND = 13
-uint8 MAIN_STATE_ORBIT = 14
-uint8 MAIN_STATE_MAX = 15
+uint8 MAIN_STATE_AUTO_PRECLAND      = 13
+uint8 MAIN_STATE_ORBIT              = 14
+uint8 MAIN_STATE_MAX                = 15
 
 uint8 main_state		    	# main state machine

msg/manual_control_switches.msg

@@ -30,7 +30,6 @@ uint8 transition_switch          # VTOL transition switch: _HOVER, FORWARD_FLIGH
 uint8 mode_switch                # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
 uint8 man_switch                 # manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL
 uint8 acro_switch                # acro 2 position switch (optional): _MANUAL_, ACRO
-uint8 rattitude_switch           # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE
 uint8 stab_switch                # stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED
 uint8 posctl_switch              # position control 2 position switch (optional): _ALTCTL_, POSCTL
 

msg/rc_channels.msg

@@ -1,37 +1,36 @@
 uint64 timestamp						# time since system start (microseconds)
 
-uint8 FUNCTION_THROTTLE=0
-uint8 FUNCTION_ROLL=1
-uint8 FUNCTION_PITCH=2
-uint8 FUNCTION_YAW=3
-uint8 FUNCTION_MODE=4
-uint8 FUNCTION_RETURN=5
-uint8 FUNCTION_POSCTL=6
-uint8 FUNCTION_LOITER=7
-uint8 FUNCTION_OFFBOARD=8
-uint8 FUNCTION_ACRO=9
-uint8 FUNCTION_FLAPS=10
-uint8 FUNCTION_AUX_1=11
-uint8 FUNCTION_AUX_2=12
-uint8 FUNCTION_AUX_3=13
-uint8 FUNCTION_AUX_4=14
-uint8 FUNCTION_AUX_5=15
-uint8 FUNCTION_PARAM_1=16
-uint8 FUNCTION_PARAM_2=17
-uint8 FUNCTION_PARAM_3_5=18
-uint8 FUNCTION_RATTITUDE=19
-uint8 FUNCTION_KILLSWITCH=20
-uint8 FUNCTION_TRANSITION=21
-uint8 FUNCTION_GEAR=22
-uint8 FUNCTION_ARMSWITCH=23
-uint8 FUNCTION_STAB=24
-uint8 FUNCTION_AUX_6=25
-uint8 FUNCTION_MAN=26
+uint8 FUNCTION_THROTTLE   = 0
+uint8 FUNCTION_ROLL       = 1
+uint8 FUNCTION_PITCH      = 2
+uint8 FUNCTION_YAW        = 3
+uint8 FUNCTION_MODE       = 4
+uint8 FUNCTION_RETURN     = 5
+uint8 FUNCTION_POSCTL     = 6
+uint8 FUNCTION_LOITER     = 7
+uint8 FUNCTION_OFFBOARD   = 8
+uint8 FUNCTION_ACRO       = 9
+uint8 FUNCTION_FLAPS      = 10
+uint8 FUNCTION_AUX_1      = 11
+uint8 FUNCTION_AUX_2      = 12
+uint8 FUNCTION_AUX_3      = 13
+uint8 FUNCTION_AUX_4      = 14
+uint8 FUNCTION_AUX_5      = 15
+uint8 FUNCTION_PARAM_1    = 16
+uint8 FUNCTION_PARAM_2    = 17
+uint8 FUNCTION_PARAM_3_5  = 18
+uint8 FUNCTION_KILLSWITCH = 19
+uint8 FUNCTION_TRANSITION = 20
+uint8 FUNCTION_GEAR       = 21
+uint8 FUNCTION_ARMSWITCH  = 22
+uint8 FUNCTION_STAB       = 23
+uint8 FUNCTION_AUX_6      = 24
+uint8 FUNCTION_MAN        = 25
 
 uint64 timestamp_last_valid					# Timestamp of last valid RC signal
 float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
 uint8 channel_count						# Number of valid channels
-int8[27] function						# Functions mapping
+int8[26] function						# Functions mapping
 uint8 rssi							# Receive signal strength index
 bool signal_lost						# Control signal lost, should be checked together with topic timeout
 uint32 frame_drop_count						# Number of dropped frames

msg/vehicle_control_mode.msg

@@ -8,7 +8,6 @@ bool flag_control_auto_enabled			# true if onboard autopilot should act
 bool flag_control_offboard_enabled		# true if offboard control should be used
 bool flag_control_rates_enabled			# true if rates are stabilized
 bool flag_control_attitude_enabled		# true if attitude stabilization is mixed in
-bool flag_control_rattitude_enabled		# true if rate/attitude stabilization is enabled
 bool flag_control_acceleration_enabled		# true if acceleration is controlled
 bool flag_control_velocity_enabled		# true if horizontal velocity (implies direction) is controlled
 bool flag_control_position_enabled		# true if position is controlled

msg/vehicle_status.msg

@@ -37,7 +37,7 @@ uint8 NAVIGATION_STATE_DESCEND = 12		# Descend mode (no position control)
 uint8 NAVIGATION_STATE_TERMINATION = 13		# Termination mode
 uint8 NAVIGATION_STATE_OFFBOARD = 14
 uint8 NAVIGATION_STATE_STAB = 15		# Stabilized mode
-uint8 NAVIGATION_STATE_RATTITUDE = 16		# Rattitude (aka "flip") mode
+uint8 NAVIGATION_STATE_UNUSED2 = 16		# Free slot
 uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17	# Takeoff
 uint8 NAVIGATION_STATE_AUTO_LAND = 18		# Land
 uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19	# Auto Follow

src/drivers/osd/atxxxx/atxxxx.cpp

@@ -424,10 +424,6 @@ OSDatxxxx::get_flight_mode(uint8_t nav_state)
 	case vehicle_status_s::NAVIGATION_STATE_STAB:
 		flight_mode = "STABILIZED";
 		break;
-
-	case vehicle_status_s::NAVIGATION_STATE_RATTITUDE:
-		flight_mode = "RATTITUDE";
-		break;
 	}
 
 	return flight_mode;

src/drivers/rc_input/crsf_telemetry.cpp

@@ -182,10 +182,6 @@ bool CRSFTelemetry::send_flight_mode()
 	case vehicle_status_s::NAVIGATION_STATE_STAB:
 		flight_mode = "Stabilized";
 		break;
-
-	case vehicle_status_s::NAVIGATION_STATE_RATTITUDE:
-		flight_mode = "Rattitude";
-		break;
 	}
 
 	return crsf_send_telemetry_flight_mode(_uart_fd, flight_mode);

src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp

@@ -115,8 +115,6 @@ uint16_t get_telemetry_flight_mode(int px4_flight_mode)
 
 	case 15: return 20; // stabilized
 
-	case 16: return 21; // rattitude
-
 	case 17: return 25; // takeoff
 
 	case 8:

src/modules/commander/Commander.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -321,9 +321,6 @@ int Commander::custom_command(int argc, char *argv[])
 			} else if (!strcmp(argv[1], "stabilized")) {
 				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_STABILIZED);
 
-			} else if (!strcmp(argv[1], "rattitude")) {
-				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_RATTITUDE);
-
 			} else if (!strcmp(argv[1], "auto:takeoff")) {
 				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
 						     PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF);
@@ -664,10 +661,6 @@ Commander::handle_command(const vehicle_command_s &cmd)
 					/* ACRO */
 					main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_ACRO, _status_flags, &_internal_state);
 
-				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_RATTITUDE) {
-					/* RATTITUDE */
-					main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_RATTITUDE, _status_flags, &_internal_state);
-
 				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_STABILIZED) {
 					/* STABILIZED */
 					main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, &_internal_state);
@@ -2790,7 +2783,6 @@ Commander::set_main_state_rc()
 		|| (_last_manual_control_switches.return_switch != _manual_control_switches.return_switch)
 		|| (_last_manual_control_switches.mode_switch != _manual_control_switches.mode_switch)
 		|| (_last_manual_control_switches.acro_switch != _manual_control_switches.acro_switch)
-		|| (_last_manual_control_switches.rattitude_switch != _manual_control_switches.rattitude_switch)
 		|| (_last_manual_control_switches.posctl_switch != _manual_control_switches.posctl_switch)
 		|| (_last_manual_control_switches.loiter_switch != _manual_control_switches.loiter_switch)
 		|| (_last_manual_control_switches.mode_slot != _manual_control_switches.mode_slot)
@@ -3044,16 +3036,6 @@ Commander::set_main_state_rc()
 						res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, &_internal_state);
 					}
 
-				} else if (_manual_control_switches.rattitude_switch == manual_control_switches_s::SWITCH_POS_ON) {
-					/* Similar to acro transitions for multirotors.  FW aircraft don't need a
-					 * rattitude mode.*/
-					if (_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
-						res = main_state_transition(_status, commander_state_s::MAIN_STATE_RATTITUDE, _status_flags, &_internal_state);
-
-					} else {
-						res = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, &_internal_state);
-					}
-
 				} else {
 					res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, &_internal_state);
 				}
@@ -3069,9 +3051,6 @@ Commander::set_main_state_rc()
 				} else if (_manual_control_switches.acro_switch == manual_control_switches_s::SWITCH_POS_ON) {
 					res = main_state_transition(_status, commander_state_s::MAIN_STATE_ACRO, _status_flags, &_internal_state);
 
-				} else if (_manual_control_switches.rattitude_switch == manual_control_switches_s::SWITCH_POS_ON) {
-					res = main_state_transition(_status, commander_state_s::MAIN_STATE_RATTITUDE, _status_flags, &_internal_state);
-
 				} else if (_manual_control_switches.stab_switch == manual_control_switches_s::SWITCH_POS_ON) {
 					res = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, &_internal_state);
 
@@ -3251,13 +3230,6 @@ Commander::update_control_mode()
 		_vehicle_control_mode.flag_control_attitude_enabled = true;
 		break;
 
-	case vehicle_status_s::NAVIGATION_STATE_RATTITUDE:
-		_vehicle_control_mode.flag_control_manual_enabled = true;
-		_vehicle_control_mode.flag_control_rates_enabled = true;
-		_vehicle_control_mode.flag_control_attitude_enabled = true;
-		_vehicle_control_mode.flag_control_rattitude_enabled = true;
-		break;
-
 	case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
 		_vehicle_control_mode.flag_control_manual_enabled = true;
 		_vehicle_control_mode.flag_control_rates_enabled = true;
@@ -3360,7 +3332,6 @@ Commander::update_control_mode()
 		_vehicle_control_mode.flag_control_auto_enabled = false;
 		_vehicle_control_mode.flag_control_rates_enabled = true;
 		_vehicle_control_mode.flag_control_attitude_enabled = true;
-		_vehicle_control_mode.flag_control_rattitude_enabled = false;
 		_vehicle_control_mode.flag_control_altitude_enabled = true;
 		_vehicle_control_mode.flag_control_climb_rate_enabled = true;
 		_vehicle_control_mode.flag_control_position_enabled = !_status.in_transition_mode;
@@ -4059,7 +4030,7 @@ The commander module contains the state machine for mode switching and failsafe
 	PRINT_MODULE_USAGE_COMMAND("land");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("transition", "VTOL transition");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("mode", "Change flight mode");
-	PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|rattitude|altctl|posctl|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland",
+	PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|altctl|posctl|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland",
 			"Flight mode", false);
 	PRINT_MODULE_USAGE_COMMAND("lockdown");
 	PRINT_MODULE_USAGE_ARG("off", "Turn lockdown off", true);

src/modules/commander/commander_params.c

@@ -405,7 +405,6 @@ PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0);
  * @value 6 Acro
  * @value 7 Offboard
  * @value 8 Stabilized
- * @value 9 Rattitude
  * @value 12 Follow Me
  * @group Commander
  */
@@ -429,7 +428,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE1, -1);
  * @value 6 Acro
  * @value 7 Offboard
  * @value 8 Stabilized
- * @value 9 Rattitude
  * @value 12 Follow Me
  * @group Commander
  */
@@ -453,7 +451,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE2, -1);
  * @value 6 Acro
  * @value 7 Offboard
  * @value 8 Stabilized
- * @value 9 Rattitude
  * @value 12 Follow Me
  * @group Commander
  */
@@ -477,7 +474,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE3, -1);
  * @value 6 Acro
  * @value 7 Offboard
  * @value 8 Stabilized
- * @value 9 Rattitude
  * @value 12 Follow Me
  * @group Commander
  */
@@ -501,7 +497,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE4, -1);
  * @value 6 Acro
  * @value 7 Offboard
  * @value 8 Stabilized
- * @value 9 Rattitude
  * @value 12 Follow Me
  * @group Commander
  */
@@ -525,7 +520,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE5, -1);
  * @value 6 Acro
  * @value 7 Offboard
  * @value 8 Stabilized
- * @value 9 Rattitude
  * @value 12 Follow Me
  * @group Commander
  */
@@ -966,7 +960,7 @@ PARAM_DEFINE_INT32(COM_POWER_COUNT, 1);
  *
  * A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to put the vehicle into
  * a lockdown state if attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R.
- * The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW), Rattitude and Manual (FW).
+ * The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW) and Manual (FW).
  * A zero or negative value means that the check is disabled.
  *
  * @group Commander

src/modules/commander/failure_detector/FailureDetector.cpp

@@ -76,13 +76,11 @@ bool FailureDetector::isAttitudeStabilized(const vehicle_status_s &vehicle_statu
 	const uint8_t nav_state = vehicle_status.nav_state;
 
 	if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
-		attitude_is_stabilized =  nav_state != vehicle_status_s::NAVIGATION_STATE_ACRO &&
-					  nav_state != vehicle_status_s::NAVIGATION_STATE_RATTITUDE;
+		attitude_is_stabilized =  nav_state != vehicle_status_s::NAVIGATION_STATE_ACRO;
 
 	} else if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
 		attitude_is_stabilized =  nav_state != vehicle_status_s::NAVIGATION_STATE_MANUAL &&
-					  nav_state != vehicle_status_s::NAVIGATION_STATE_ACRO &&
-					  nav_state != vehicle_status_s::NAVIGATION_STATE_RATTITUDE;
+					  nav_state != vehicle_status_s::NAVIGATION_STATE_ACRO;
 	}
 
 	return attitude_is_stabilized;

src/modules/commander/px4_custom_mode.h

@@ -50,7 +50,7 @@ enum PX4_CUSTOM_MAIN_MODE {
 	PX4_CUSTOM_MAIN_MODE_ACRO,
 	PX4_CUSTOM_MAIN_MODE_OFFBOARD,
 	PX4_CUSTOM_MAIN_MODE_STABILIZED,
-	PX4_CUSTOM_MAIN_MODE_RATTITUDE,
+	PX4_CUSTOM_MAIN_MODE_RATTITUDE_LEGACY,
 	PX4_CUSTOM_MAIN_MODE_SIMPLE /* unused, but reserved for future use */
 };
 

src/modules/commander/state_machine_helper.cpp

@@ -270,7 +270,6 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
 	case commander_state_s::MAIN_STATE_MANUAL:
 	case commander_state_s::MAIN_STATE_STAB:
 	case commander_state_s::MAIN_STATE_ACRO:
-	case commander_state_s::MAIN_STATE_RATTITUDE:
 		ret = TRANSITION_CHANGED;
 		break;
 
@@ -431,7 +430,6 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
 	switch (internal_state->main_state) {
 	case commander_state_s::MAIN_STATE_ACRO:
 	case commander_state_s::MAIN_STATE_MANUAL:
-	case commander_state_s::MAIN_STATE_RATTITUDE:
 	case commander_state_s::MAIN_STATE_STAB:
 	case commander_state_s::MAIN_STATE_ALTCTL:
 
@@ -451,10 +449,6 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
 				break;
 
-			case commander_state_s::MAIN_STATE_RATTITUDE:
-				status->nav_state = vehicle_status_s::NAVIGATION_STATE_RATTITUDE;
-				break;
-
 			case commander_state_s::MAIN_STATE_STAB:
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_STAB;
 				break;

src/modules/fw_att_control/FixedwingAttitudeControl.cpp

@@ -143,14 +143,6 @@ FixedwingAttitudeControl::vehicle_manual_poll()
 		// Always copy the new manual setpoint, even if it wasn't updated, to fill the _actuators with valid values
 		if (_manual_control_setpoint_sub.copy(&_manual_control_setpoint)) {
 
-			// Check if we are in rattitude mode and the pilot is above the threshold on pitch
-			if (_vcontrol_mode.flag_control_rattitude_enabled) {
-				if (fabsf(_manual_control_setpoint.y) > _param_fw_ratt_th.get()
-				    || fabsf(_manual_control_setpoint.x) > _param_fw_ratt_th.get()) {
-					_vcontrol_mode.flag_control_attitude_enabled = false;
-				}
-			}
-
 			if (!_vcontrol_mode.flag_control_climb_rate_enabled) {
 
 				if (_vcontrol_mode.flag_control_attitude_enabled) {

src/modules/fw_att_control/FixedwingAttitudeControl.hpp

@@ -184,8 +184,6 @@ private:
 		(ParamFloat<px4::params::FW_PR_P>) _param_fw_pr_p,
 		(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off,
 
-		(ParamFloat<px4::params::FW_RATT_TH>) _param_fw_ratt_th,
-
 		(ParamFloat<px4::params::FW_R_RMAX>) _param_fw_r_rmax,
 		(ParamFloat<px4::params::FW_R_TC>) _param_fw_r_tc,
 		(ParamFloat<px4::params::FW_RLL_TO_YAW_FF>) _param_fw_rll_to_yaw_ff,

src/modules/fw_att_control/fw_att_control_params.c

@@ -632,20 +632,6 @@ PARAM_DEFINE_FLOAT(FW_ACRO_Y_MAX, 90);
  */
 PARAM_DEFINE_FLOAT(FW_ACRO_Z_MAX, 45);
 
-/**
- * Threshold for Rattitude mode
- *
- * Manual input needed in order to override attitude control rate setpoints
- * and instead pass manual stick inputs as rate setpoints
- *
- * @min 0.0
- * @max 1.0
- * @decimal 2
- * @increment 0.01
- * @group FW Attitude Control
- */
-PARAM_DEFINE_FLOAT(FW_RATT_TH, 0.8f);
-
 /**
 * Roll trim increment at minimum airspeed
 *

src/modules/mavlink/mavlink_messages.cpp

@@ -279,11 +279,6 @@ void get_mavlink_navigation_mode(const struct vehicle_status_s *const status, ui
 		custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
 		break;
 
-	case vehicle_status_s::NAVIGATION_STATE_RATTITUDE:
-		*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
-		custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_RATTITUDE;
-		break;
-
 	case vehicle_status_s::NAVIGATION_STATE_STAB:
 		*mavlink_base_mode	|= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
 					   | MAV_MODE_FLAG_STABILIZE_ENABLED;

src/modules/mc_att_control/mc_att_control.hpp

@@ -148,8 +148,6 @@ private:
 
 		(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max,			/**< scaling factor from stick to yaw rate */
 
-		(ParamFloat<px4::params::MC_RATT_TH>) _param_mc_ratt_th,
-
 		/* Stabilized mode params */
 		(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _param_mpc_man_tilt_max,			/**< maximum tilt allowed for manual flight */
 		(ParamFloat<px4::params::MPC_MANTHR_MIN>) _param_mpc_manthr_min,			/**< minimum throttle for stabilized */

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -287,15 +287,6 @@ MulticopterAttitudeControl::Run()
 			}
 		}
 
-		/* Check if we are in rattitude mode and the pilot is above the threshold on pitch
-		* or roll (yaw can rotate 360 in normal att control). If both are true don't
-		* even bother running the attitude controllers */
-		if (_v_control_mode.flag_control_rattitude_enabled) {
-			_v_control_mode.flag_control_attitude_enabled =
-				fabsf(_manual_control_setpoint.y) <= _param_mc_ratt_th.get() &&
-				fabsf(_manual_control_setpoint.x) <= _param_mc_ratt_th.get();
-		}
-
 		bool attitude_setpoint_generated = false;
 
 		const bool is_hovering = (_vehicle_type_rotary_wing && !_vtol_in_transition_mode);
@@ -338,9 +329,7 @@ MulticopterAttitudeControl::Run()
 
 		// reset yaw setpoint during transitions, tailsitter.cpp generates
 		// attitude setpoint for the transition
-		_reset_yaw_sp = (!attitude_setpoint_generated && !_v_control_mode.flag_control_rattitude_enabled) ||
-				_landed || (_vtol && _vtol_in_transition_mode);
-
+		_reset_yaw_sp = !attitude_setpoint_generated || _landed || (_vtol && _vtol_in_transition_mode);
 	}
 
 	perf_end(_loop_perf);

src/modules/mc_att_control/mc_att_control_params.c

@@ -146,20 +146,6 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 220.0f);
  */
 PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 200.0f);
 
-/**
- * Threshold for Rattitude mode
- *
- * Manual input needed in order to override attitude control rate setpoints
- * and instead pass manual stick inputs as rate setpoints
- *
- * @min 0.0
- * @max 1.0
- * @decimal 2
- * @increment 0.01
- * @group Multicopter Attitude Control
- */
-PARAM_DEFINE_FLOAT(MC_RATT_TH, 0.8f);
-
 /**
  * Manual tilt input filter time constant
  * Setting this parameter to 0 disables the filter

src/modules/mc_rate_control/MulticopterRateControl.cpp

@@ -172,14 +172,6 @@ MulticopterRateControl::Run()
 			if (!_v_control_mode.flag_control_attitude_enabled) {
 				manual_rate_sp = true;
 			}
-
-			// Check if we are in rattitude mode and the pilot is within the center threshold on pitch and roll
-			//  if true then use published rate setpoint, otherwise generate from manual_control_setpoint (like acro)
-			if (_v_control_mode.flag_control_rattitude_enabled) {
-				manual_rate_sp =
-					(fabsf(_manual_control_setpoint.y) > _param_mc_ratt_th.get()) ||
-					(fabsf(_manual_control_setpoint.x) > _param_mc_ratt_th.get());
-			}
 		}
 
 		if (manual_rate_sp) {

src/modules/mc_rate_control/MulticopterRateControl.hpp

@@ -160,8 +160,6 @@ private:
 		(ParamFloat<px4::params::MC_ACRO_SUPEXPO>) _param_mc_acro_supexpo,			/**< superexpo stick curve shape (roll & pitch) */
 		(ParamFloat<px4::params::MC_ACRO_SUPEXPOY>) _param_mc_acro_supexpoy,			/**< superexpo stick curve shape (yaw) */
 
-		(ParamFloat<px4::params::MC_RATT_TH>) _param_mc_ratt_th,
-
 		(ParamBool<px4::params::MC_BAT_SCALE_EN>) _param_mc_bat_scale_en,
 
 		(ParamInt<px4::params::CBRK_RATE_CTRL>) _param_cbrk_rate_ctrl

src/modules/rc_update/params.c

@@ -1391,34 +1391,6 @@ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
  */
 PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
 
-/**
- * Rattitude switch channel
- *
- * @min 0
- * @max 18
- * @group Radio Switches
- * @value 0 Unassigned
- * @value 1 Channel 1
- * @value 2 Channel 2
- * @value 3 Channel 3
- * @value 4 Channel 4
- * @value 5 Channel 5
- * @value 6 Channel 6
- * @value 7 Channel 7
- * @value 8 Channel 8
- * @value 9 Channel 9
- * @value 10 Channel 10
- * @value 11 Channel 11
- * @value 12 Channel 12
- * @value 13 Channel 13
- * @value 14 Channel 14
- * @value 15 Channel 15
- * @value 16 Channel 16
- * @value 17 Channel 17
- * @value 18 Channel 18
- */
-PARAM_DEFINE_INT32(RC_MAP_RATT_SW, 0);
-
 /**
  * Position Control switch channel
  *
@@ -2044,22 +2016,6 @@ PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f);
  */
 PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
 
-/**
- * Threshold for selecting rattitude mode
- *
- * 0-1 indicate where in the full channel range the threshold sits
- * 		0 : min
- * 		1 : max
- * sign indicates polarity of comparison
- * 		positive : true when channel>th
- * 		negative : true when channel<th
- *
- * @min -1
- * @max 1
- * @group Radio Switches
- */
-PARAM_DEFINE_FLOAT(RC_RATT_TH, 0.75f);
-
 /**
  * Threshold for selecting posctl mode
  *

src/modules/rc_update/rc_update.cpp

@@ -50,7 +50,6 @@ static bool operator ==(const manual_control_switches_s &a, const manual_control
 	return (a.mode_slot == b.mode_slot &&
 		a.mode_switch == b.mode_switch &&
 		a.return_switch == b.return_switch &&
-		a.rattitude_switch == b.rattitude_switch &&
 		a.posctl_switch == b.posctl_switch &&
 		a.loiter_switch == b.loiter_switch &&
 		a.acro_switch == b.acro_switch &&
@@ -168,7 +167,6 @@ void RCUpdate::update_rc_functions()
 
 	_rc.function[rc_channels_s::FUNCTION_MODE] = _param_rc_map_mode_sw.get() - 1;
 	_rc.function[rc_channels_s::FUNCTION_RETURN] = _param_rc_map_return_sw.get() - 1;
-	_rc.function[rc_channels_s::FUNCTION_RATTITUDE] = _param_rc_map_ratt_sw.get() - 1;
 	_rc.function[rc_channels_s::FUNCTION_POSCTL] = _param_rc_map_posctl_sw.get() - 1;
 	_rc.function[rc_channels_s::FUNCTION_LOITER] = _param_rc_map_loiter_sw.get() - 1;
 	_rc.function[rc_channels_s::FUNCTION_ACRO] = _param_rc_map_acro_sw.get() - 1;
@@ -541,7 +539,6 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
 		// only used with legacy mode switch
 		switches.man_switch       = get_rc_sw2pos_position(rc_channels_s::FUNCTION_MAN,       _param_rc_man_th.get());
 		switches.acro_switch      = get_rc_sw2pos_position(rc_channels_s::FUNCTION_ACRO,      _param_rc_acro_th.get());
-		switches.rattitude_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_RATTITUDE, _param_rc_ratt_th.get());
 		switches.stab_switch      = get_rc_sw2pos_position(rc_channels_s::FUNCTION_STAB,      _param_rc_stab_th.get());
 		switches.posctl_switch    = get_rc_sw2pos_position(rc_channels_s::FUNCTION_POSCTL,    _param_rc_posctl_th.get());
 	}

src/modules/rc_update/rc_update.h

@@ -206,7 +206,6 @@ private:
 		(ParamInt<px4::params::RC_MAP_FLAPS>) _param_rc_map_flaps,
 
 		(ParamInt<px4::params::RC_MAP_RETURN_SW>) _param_rc_map_return_sw,
-		(ParamInt<px4::params::RC_MAP_RATT_SW>) _param_rc_map_ratt_sw,
 		(ParamInt<px4::params::RC_MAP_POSCTL_SW>) _param_rc_map_posctl_sw,
 		(ParamInt<px4::params::RC_MAP_LOITER_SW>) _param_rc_map_loiter_sw,
 		(ParamInt<px4::params::RC_MAP_ACRO_SW>) _param_rc_map_acro_sw,
@@ -229,7 +228,6 @@ private:
 
 		(ParamFloat<px4::params::RC_ASSIST_TH>) _param_rc_assist_th,
 		(ParamFloat<px4::params::RC_AUTO_TH>) _param_rc_auto_th,
-		(ParamFloat<px4::params::RC_RATT_TH>) _param_rc_ratt_th,
 		(ParamFloat<px4::params::RC_POSCTL_TH>) _param_rc_posctl_th,
 		(ParamFloat<px4::params::RC_LOITER_TH>) _param_rc_loiter_th,
 		(ParamFloat<px4::params::RC_ACRO_TH>) _param_rc_acro_th,