Copter: remove unused throttle modes

These were useful for testing the alt-hold when it was first introduced
but now they just add complexity

ArduCopter/ArduCopter.pde

@@ -1762,24 +1762,6 @@ bool set_throttle_mode( uint8_t new_throttle_mode )
             throttle_initialised = true;
             break;
 
-        case THROTTLE_ACCELERATION:                     // pilot inputs the desired acceleration
-            if( g.throttle_accel_enabled ) {            // this throttle mode requires use of the accel based throttle controller
-                altitude_error = 0;                     // clear altitude error reported to GCS
-                throttle_initialised = true;
-            }
-            break;
-
-        case THROTTLE_RATE:
-            altitude_error = 0;                         // clear altitude error reported to GCS
-            throttle_initialised = true;
-            break;
-
-        case THROTTLE_STABILIZED_RATE:
-        case THROTTLE_DIRECT_ALT:
-            controller_desired_alt = get_initial_alt_hold(current_loc.alt, climb_rate);   // reset controller desired altitude to current altitude
-            throttle_initialised = true;
-            break;
-
         case THROTTLE_HOLD:
         case THROTTLE_AUTO:
             controller_desired_alt = get_initial_alt_hold(current_loc.alt, climb_rate);     // reset controller desired altitude to current altitude
@@ -1898,57 +1880,6 @@ void update_throttle_mode(void)
         set_target_alt_for_reporting(0);
         break;
 
-    case THROTTLE_ACCELERATION:
-        // pilot inputs the desired acceleration
-        if(g.rc_3.control_in <= 0){
-            set_throttle_out(0, false);
-            throttle_accel_deactivate();    // do not allow the accel based throttle to override our command
-        }else{
-            int16_t desired_acceleration = get_pilot_desired_acceleration(g.rc_3.control_in);
-            set_throttle_accel_target(desired_acceleration);
-        }
-        set_target_alt_for_reporting(0);
-        break;
-
-    case THROTTLE_RATE:
-        // pilot inputs the desired climb rate.  Note this is the unstabilized rate controller
-        if(g.rc_3.control_in <= 0){
-            set_throttle_out(0, false);
-            throttle_accel_deactivate();    // do not allow the accel based throttle to override our command
-        }else{
-            pilot_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
-            get_throttle_rate(pilot_climb_rate);
-        }
-        set_target_alt_for_reporting(0);
-        break;
-
-    case THROTTLE_STABILIZED_RATE:
-        // pilot inputs the desired climb rate.  Note this is the stabilized rate controller
-        if(g.rc_3.control_in <= 0){
-            set_throttle_out(0, false);
-            throttle_accel_deactivate();    // do not allow the accel based throttle to override our command
-            altitude_error = 0;             // clear altitude error reported to GCS - normally underlying alt hold controller updates altitude error reported to GCS
-            set_target_alt_for_reporting(0);
-        }else{
-            pilot_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
-            get_throttle_rate_stabilized(pilot_climb_rate);     // this function calls set_target_alt_for_reporting for us
-        }
-        break;
-
-    case THROTTLE_DIRECT_ALT:
-        // pilot inputs a desired altitude from 0 ~ 10 meters
-        if(g.rc_3.control_in <= 0){
-            set_throttle_out(0, false);
-            throttle_accel_deactivate();    // do not allow the accel based throttle to override our command
-            altitude_error = 0;             // clear altitude error reported to GCS - normally underlying alt hold controller updates altitude error reported to GCS
-            set_target_alt_for_reporting(0);
-        }else{
-            int32_t desired_alt = get_pilot_desired_direct_alt(g.rc_3.control_in);
-            get_throttle_althold_with_slew(desired_alt, g.auto_velocity_z_min, g.auto_velocity_z_max);
-            set_target_alt_for_reporting(desired_alt);
-        }
-        break;
-
     case THROTTLE_HOLD:
         // alt hold plus pilot input of climb rate
         pilot_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);

ArduCopter/defines.h

@@ -35,13 +35,9 @@
 
 #define THROTTLE_MANUAL                     0   // manual throttle mode - pilot input goes directly to motors
 #define THROTTLE_MANUAL_TILT_COMPENSATED    1   // mostly manual throttle but with some tilt compensation
-#define THROTTLE_ACCELERATION               2   // pilot inputs the desired acceleration
-#define THROTTLE_RATE                       3   // pilot inputs the desired climb rate.  Note: this uses the unstabilized rate controller
-#define THROTTLE_STABILIZED_RATE            4   // pilot inputs the desired climb rate.  Uses stabilized rate controller
-#define THROTTLE_DIRECT_ALT                 5   // pilot inputs a desired altitude from 0 ~ 10 meters
-#define THROTTLE_HOLD                       6   // alt hold plus pilot input of climb rate
-#define THROTTLE_AUTO                       7   // auto pilot altitude controller with target altitude held in next_WP.alt
-#define THROTTLE_LAND                       8   // landing throttle controller
+#define THROTTLE_HOLD                       2   // alt hold plus pilot input of climb rate
+#define THROTTLE_AUTO                       3   // auto pilot altitude controller with target altitude held in next_WP.alt
+#define THROTTLE_LAND                       4   // landing throttle controller
 
 
 // sonar - for use with CONFIG_SONAR_SOURCE