Plane: Remove some redundant code/state resets

ArduPlane/ArduPlane.cpp

@@ -562,7 +562,6 @@ void Plane::update_flight_mode(void)
     case FLY_BY_WIRE_A: {
         // set nav_roll and nav_pitch using sticks
         nav_roll_cd  = channel_roll->norm_input() * roll_limit_cd;
-        nav_roll_cd = constrain_int32(nav_roll_cd, -roll_limit_cd, roll_limit_cd);
         update_load_factor();
         float pitch_input = channel_pitch->norm_input();
         if (pitch_input > 0) {
@@ -597,7 +596,6 @@ void Plane::update_flight_mode(void)
     case FLY_BY_WIRE_B:
         // Thanks to Yury MonZon for the altitude limit code!
         nav_roll_cd = channel_roll->norm_input() * roll_limit_cd;
-        nav_roll_cd = constrain_int32(nav_roll_cd, -roll_limit_cd, roll_limit_cd);
         update_load_factor();
         update_fbwb_speed_height();
         break;
@@ -615,7 +613,6 @@ void Plane::update_flight_mode(void)
         
         if (!cruise_state.locked_heading) {
             nav_roll_cd = channel_roll->norm_input() * roll_limit_cd;
-            nav_roll_cd = constrain_int32(nav_roll_cd, -roll_limit_cd, roll_limit_cd);
             update_load_factor();
         } else {
             calc_nav_roll();

ArduPlane/Attitude.cpp

@@ -643,7 +643,7 @@ void Plane::update_load_factor(void)
         // our airspeed is below the minimum airspeed. Limit roll to
         // 25 degrees
         nav_roll_cd = constrain_int32(nav_roll_cd, -2500, 2500);
-        roll_limit_cd = constrain_int32(roll_limit_cd, -2500, 2500);
+        roll_limit_cd = MIN(roll_limit_cd, 2500);
     } else if (max_load_factor < aerodynamic_load_factor) {
         // the demanded nav_roll would take us past the aerodymamic
         // load limit. Limit our roll to a bank angle that will keep
@@ -656,6 +656,6 @@ void Plane::update_load_factor(void)
             roll_limit = 2500;
         }
         nav_roll_cd = constrain_int32(nav_roll_cd, -roll_limit, roll_limit);
-        roll_limit_cd = constrain_int32(roll_limit_cd, -roll_limit, roll_limit);
+        roll_limit_cd = MIN(roll_limit_cd, roll_limit);
     }    
 }

ArduPlane/commands.cpp

@@ -64,8 +64,6 @@ void Plane::set_next_WP(const struct Location &loc)
 
     setup_glide_slope();
     setup_turn_angle();
-
-    loiter_angle_reset();
 }
 
 void Plane::set_guided_WP(void)