Sub: make libraries get EKF control limits themselves

ArduSub/Sub.h

@@ -207,12 +207,6 @@ private:
     OpticalFlow optflow{ahrs};
 #endif
 
-    // gnd speed limit required to observe optical flow sensor limits
-    float ekfGndSpdLimit;
-
-    // scale factor applied to velocity controller gain to prevent optical flow noise causing excessive angle demand noise
-    float ekfNavVelGainScaler;
-
     // system time in milliseconds of last recorded yaw reset from ekf
     uint32_t ekfYawReset_ms = 0;
 

ArduSub/control_auto.cpp

@@ -734,7 +734,7 @@ void Sub::auto_terrain_recover_run()
     }
 
     // run loiter controller
-    loiter_nav.update(ekfGndSpdLimit, ekfNavVelGainScaler);
+    loiter_nav.update();
 
     ///////////////////////
     // update xy targets //

ArduSub/control_guided.cpp

@@ -369,7 +369,7 @@ void Sub::guided_vel_control_run()
     }
 
     // call velocity controller which includes z axis controller
-    pos_control.update_vel_controller_xyz(ekfNavVelGainScaler);
+    pos_control.update_vel_controller_xyz();
 
     float lateral_out, forward_out;
     translate_pos_control_rp(lateral_out, forward_out);
@@ -440,7 +440,7 @@ void Sub::guided_posvel_control_run()
     pos_control.set_desired_velocity_xy(posvel_vel_target_cms.x, posvel_vel_target_cms.y);
 
     // run position controller
-    pos_control.update_xy_controller(ekfNavVelGainScaler);
+    pos_control.update_xy_controller();
 
     float lateral_out, forward_out;
     translate_pos_control_rp(lateral_out, forward_out);

ArduSub/control_poshold.cpp

@@ -52,7 +52,7 @@ void Sub::poshold_run()
     motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
     // run loiter controller
-    loiter_nav.update(ekfGndSpdLimit, ekfNavVelGainScaler);
+    loiter_nav.update();
 
     ///////////////////////
     // update xy outputs //

ArduSub/flight_mode.cpp

@@ -98,9 +98,6 @@ bool Sub::set_mode(control_mode_t mode, mode_reason_t reason)
 // called at 100hz or more
 void Sub::update_flight_mode()
 {
-    // Update EKF speed limit - used to limit speed when we are using optical flow
-    ahrs.getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);
-
     switch (control_mode) {
     case ACRO:
         acro_run();