Sub: Remove (unused) PHLD parameters

ArduSub/Parameters.cpp

@@ -495,24 +495,6 @@ const AP_Param::Info Sub::var_info[] = {
     // @Values: 0:Very Soft, 25:Soft, 50:Medium, 75:Crisp, 100:Very Crisp
     GSCALAR(rc_feel_rp, "RC_FEEL_RP",  RC_FEEL_RP_MEDIUM),
 
-#if POSHOLD_ENABLED == ENABLED
-    // @Param: PHLD_BRAKE_RATE
-    // @DisplayName: PosHold braking rate
-    // @Description: PosHold flight mode's rotation rate during braking in deg/sec
-    // @Units: deg/sec
-    // @Range: 4 12
-    // @User: Advanced
-    GSCALAR(poshold_brake_rate, "PHLD_BRAKE_RATE",  POSHOLD_BRAKE_RATE_DEFAULT),
-
-    // @Param: PHLD_BRAKE_ANGLE
-    // @DisplayName: PosHold braking angle max
-    // @Description: PosHold flight mode's max lean angle during braking in centi-degrees
-    // @Units: Centi-degrees
-    // @Range: 2000 4500
-    // @User: Advanced
-    GSCALAR(poshold_brake_angle_max, "PHLD_BRAKE_ANGLE",  POSHOLD_BRAKE_ANGLE_DEFAULT),
-#endif
-
     // @Param: LAND_REPOSITION
     // @DisplayName: Land repositioning
     // @Description: Enables user input during LAND mode, the landing phase of RTL, and auto mode landings.

ArduSub/Parameters.h

@@ -94,8 +94,6 @@ public:
         k_param_rc_13,
         k_param_rc_14,
         k_param_rally,
-        k_param_poshold_brake_rate,
-        k_param_poshold_brake_angle_max,
         k_param_pilot_accel_z,
         k_param_land_repositioning,
         k_param_rangefinder, // rangefinder object
@@ -329,9 +327,6 @@ public:
 
     AP_Int8         wp_yaw_behavior;            // controls how the autopilot controls yaw during missions
     AP_Int8         rc_feel_rp;                 // controls vehicle response to user input with 0 being extremely soft and 100 begin extremely crisp
-
-    AP_Int16        poshold_brake_rate;         // PosHold flight mode's rotation rate during braking in deg/sec
-    AP_Int16        poshold_brake_angle_max;    // PosHold flight mode's max lean angle during braking in centi-degrees
     
     // Waypoints
     //

ArduSub/config.h

@@ -516,12 +516,6 @@
 #ifndef POSHOLD_ENABLED
  # define POSHOLD_ENABLED               ENABLED // PosHold flight mode enabled by default
 #endif
-#ifndef POSHOLD_BRAKE_RATE_DEFAULT
- # define POSHOLD_BRAKE_RATE_DEFAULT    8       // default POSHOLD_BRAKE_RATE param value.  Rotation rate during braking in deg/sec
-#endif
-#ifndef POSHOLD_BRAKE_ANGLE_DEFAULT
- # define POSHOLD_BRAKE_ANGLE_DEFAULT   3000    // default POSHOLD_BRAKE_ANGLE param value.  Max lean angle during braking in centi-degrees
-#endif
 
 //////////////////////////////////////////////////////////////////////////////
 // Throttle control gains