AC_PrecLand: remove PI controller, speed limits as they are unused

libraries/AC_PrecLand/AC_PrecLand.cpp

@@ -22,33 +22,6 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("TYPE",    1, AC_PrecLand, _type, 0),
 
-    // @Param: SPEED
-    // @DisplayName: Precision Land horizontal speed maximum in cm/s
-    // @Description: Precision Land horizontal speed maximum in cm/s
-    // @Range: 0 500
-    // @User: Advanced
-    AP_GROUPINFO("SPEED",   2, AC_PrecLand, _speed_xy, AC_PRECLAND_SPEED_XY_DEFAULT),
-
-     // @Param: VEL_P
-     // @DisplayName: Precision landing velocity controller P gain
-     // @Description: Precision landing velocity controller P gain
-     // @Range: 0.100 5.000
-     // @User: Advanced
-
-     // @Param: VEL_I
-     // @DisplayName: Precision landing velocity controller I gain
-     // @Description: Precision landing velocity controller I gain
-     // @Range: 0.100 5.000
-     // @User: Advanced
-
-     // @Param: VEL_IMAX
-     // @DisplayName: Precision landing velocity controller I gain maximum
-     // @Description: Precision landing velocity controller I gain maximum
-     // @Range: 0 1000
-     // @Units: cm/s
-     // @User: Standard
-     AP_SUBGROUPINFO(_pi_vel_xy, "VEL_", 3, AC_PrecLand, AC_PI_2D),
-
     AP_GROUPEND
 };
 
@@ -56,11 +29,9 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = {
 // Note that the Vector/Matrix constructors already implicitly zero
 // their values.
 //
-AC_PrecLand::AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav, float dt) :
+AC_PrecLand::AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav) :
     _ahrs(ahrs),
     _inav(inav),
-    _pi_vel_xy(PRECLAND_P, PRECLAND_I, PRECLAND_IMAX, PRECLAND_FILT_HZ, dt),
-    _dt(dt),
     _have_estimate(false),
     _backend(NULL)
 {

libraries/AC_PrecLand/AC_PrecLand.h

@@ -3,17 +3,8 @@
 
 #include <AP_Common/AP_Common.h>
 #include <AP_Math/AP_Math.h>
-#include <AC_PID/AC_PI_2D.h>
 #include <AP_InertialNav/AP_InertialNav.h>
 
-// definitions
-#define AC_PRECLAND_SPEED_XY_DEFAULT            100.0f  // maximum horizontal speed
-#define PRECLAND_P                              2.0f    // velocity controller P gain default
-#define PRECLAND_I                              1.0f    // velocity controller I gain default
-#define PRECLAND_IMAX                         500.0f    // velocity controller IMAX default
-#define PRECLAND_FILT_HZ                        5.0f    // velocity controller filter hz
-#define PRECLAND_UPDATE_TIME                    0.02f   // precland runs at 50hz
-
 // declare backend classes
 class AC_PrecLand_Backend;
 class AC_PrecLand_Companion;
@@ -43,7 +34,7 @@ public:
     };
 
     // Constructor
-    AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav, float dt);
+    AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav);
 
     // init - perform any required initialisation of landing controllers
     void init();
@@ -83,15 +74,10 @@ private:
     // references to inertial nav and ahrs libraries
     const AP_AHRS&              _ahrs;
     const AP_InertialNav&       _inav;
-    AC_PI_2D                    _pi_vel_xy;         // horizontal velocity PI controller
 
     // parameters
     AP_Int8                     _enabled;           // enabled/disabled and behaviour
     AP_Int8                     _type;              // precision landing controller type
-    AP_Float                    _speed_xy;          // maximum horizontal speed in cm/s
-
-    // internal variables
-    float                       _dt;                // time difference (in seconds) between calls from the main program
 
     // output from sensor (stored for logging)
     Vector2f                    _angle_to_target;   // last raw sensor angle to target