From 69d89c58718a4b256e1896eb4c312affd8fdc7c5 Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Fri, 25 Nov 2016 20:51:54 -0500
Subject: [PATCH] Sub: Remove LAND parameters

---
 ArduSub/Parameters.cpp      | 25 -------------------------
 ArduSub/Parameters.h        | 10 ----------
 ArduSub/control_surface.cpp |  2 +-
 3 files changed, 1 insertion(+), 36 deletions(-)

diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 7f40d5561a..e856c4a04d 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -266,24 +266,6 @@ const AP_Param::Info Sub::var_info[] = {
     // @User: Standard
     GSCALAR(rtl_loiter_time,      "RTL_LOIT_TIME",    RTL_LOITER_TIME),
 
-    // @Param: LAND_SPEED
-    // @DisplayName: Land speed
-    // @Description: The descent speed for the final stage of landing in cm/s
-    // @Units: cm/s
-    // @Range: 30 200
-    // @Increment: 10
-    // @User: Standard
-    GSCALAR(land_speed,             "LAND_SPEED",   LAND_SPEED),
-
-    // @Param: LAND_SPEED_HIGH
-    // @DisplayName: Land speed high
-    // @Description: The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used
-    // @Units: cm/s
-    // @Range: 0 500
-    // @Increment: 10
-    // @User: Standard
-    GSCALAR(land_speed_high,        "LAND_SPEED_HIGH",   0),    
-
     // @Param: PILOT_VELZ_MAX
     // @DisplayName: Pilot maximum vertical speed
     // @Description: The maximum vertical velocity the pilot may request in cm/s
@@ -482,13 +464,6 @@ 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),
 
-    // @Param: LAND_REPOSITION
-    // @DisplayName: Land repositioning
-    // @Description: Enables user input during LAND mode, the landing phase of RTL, and auto mode landings.
-    // @Values: 0:No repositioning, 1:Repositioning
-    // @User: Advanced
-    GSCALAR(land_repositioning, "LAND_REPOSITION",     LAND_REPOSITION_DEFAULT),
-
     // @Param: FS_EKF_ACTION
     // @DisplayName: EKF Failsafe Action
     // @Description: Controls the action that will be taken when an EKF failsafe is invoked
diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index b38a790ad2..4e2c8ff409 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -95,7 +95,6 @@ public:
         k_param_rc_14,
         k_param_rally,
         k_param_pilot_accel_z,
-        k_param_land_repositioning,
         k_param_rangefinder, // rangefinder object
         k_param_fs_ekf_thresh,
         k_param_terrain,
@@ -210,12 +209,6 @@ public:
         k_param_flight_mode5,
         k_param_flight_mode6,
 
-        //
-        // 210: Waypoint data
-        //
-        k_param_land_speed,
-        k_param_land_speed_high,
-
         //
         // 220: PI/D Controllers
         //
@@ -328,8 +321,6 @@ public:
     // Waypoints
     //
     AP_Int32        rtl_loiter_time;
-    AP_Int16        land_speed;
-    AP_Int16        land_speed_high;
     AP_Int16        pilot_velocity_z_max;        // maximum vertical velocity the pilot may request
     AP_Int16        pilot_accel_z;               // vertical acceleration the pilot may request
 
@@ -364,7 +355,6 @@ public:
     AP_Int8         arming_check;
     AP_Int8         disarm_delay;
 
-    AP_Int8         land_repositioning;
     AP_Int8         fs_ekf_action;
     AP_Int8         fs_crash_check;
     AP_Float        fs_ekf_thresh;
diff --git a/ArduSub/control_surface.cpp b/ArduSub/control_surface.cpp
index 98a6a3d446..a0b93518a5 100644
--- a/ArduSub/control_surface.cpp
+++ b/ArduSub/control_surface.cpp
@@ -49,7 +49,7 @@ void Sub::surface_run()
     attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
 
     // set target climb rate
-	float cmb_rate = constrain_float(abs(g.land_speed), 1, pos_control.get_speed_up());
+	float cmb_rate = constrain_float(abs(wp_nav.get_speed_up()), 1, pos_control.get_speed_up());
 
     // record desired climb rate for logging
     desired_climb_rate = cmb_rate;