Plane: remove none-functional NAV_CONTROLLER param

ArduPlane/Parameters.cpp

@@ -215,13 +215,6 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Advanced
     GSCALAR(use_reverse_thrust,     "USE_REV_THRUST",  USE_REVERSE_THRUST_AUTO_LAND_APPROACH),
 
-    // @Param: NAV_CONTROLLER
-    // @DisplayName: Navigation controller selection
-    // @Description: Which navigation controller to enable. Currently the only navigation controller available is L1. From time to time other experimental controllers will be added which are selected using this parameter.
-    // @Values: 0:Default,1:L1Controller
-    // @User: Standard
-    GSCALAR(nav_controller,          "NAV_CONTROLLER",   AP_Navigation::CONTROLLER_L1),
-
     // @Param: ALT_OFFSET
     // @DisplayName: Altitude offset
     // @Description: This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission

ArduPlane/Parameters.h

@@ -81,7 +81,7 @@ public:
         k_param_level_roll_limit,
         k_param_hil_servos_unused,  // unused
         k_param_vtail_output, // unused
-        k_param_nav_controller,
+        k_param_nav_controller, // unused
         k_param_elevon_output, // unused
         k_param_att_controller, // unused
         k_param_mixing_gain,
@@ -377,9 +377,6 @@ public:
     // speed used for speed scaling
     AP_Float scaling_speed;
 
-    // navigation controller type. See AP_Navigation::ControllerType
-    AP_Int8  nav_controller;
-
     AP_Int8  auto_fbw_steer;
 
     // Waypoints

ArduPlane/Plane.h

@@ -982,7 +982,6 @@ private:
     void set_flight_stage(AP_Vehicle::FixedWing::FlightStage fs);
 
     // navigation.cpp
-    void set_nav_controller(void);
     void loiter_angle_reset(void);
     void loiter_angle_update(void);
     void navigate();

ArduPlane/navigation.cpp

@@ -1,20 +1,5 @@
 #include "Plane.h"
 
-// set the nav_controller pointer to the right controller
-void Plane::set_nav_controller(void)
-{
-    switch ((AP_Navigation::ControllerType)g.nav_controller.get()) {
-
-    default:
-    case AP_Navigation::CONTROLLER_DEFAULT:
-        // no break, fall through to L1 as default controller
-
-    case AP_Navigation::CONTROLLER_L1:
-        nav_controller = &L1_controller;
-        break;
-    }
-}
-
 /*
   reset the total loiter angle
  */
@@ -100,9 +85,6 @@ void Plane::loiter_angle_update(void)
 //****************************************************************
 void Plane::navigate()
 {
-    // allow change of nav controller mid-flight
-    set_nav_controller();
-
     // do not navigate with corrupt data
     // ---------------------------------
     if (!have_position) {

ArduPlane/system.cpp

@@ -125,9 +125,6 @@ void Plane::init_ardupilot()
         hal.rcout->set_output_mode(g2.oneshot_mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT);
     }
 
-    // choose the nav controller
-    set_nav_controller();
-
     set_mode_by_number((enum Mode::Number)g.initial_mode.get(), ModeReason::INITIALISED);
 
     // set the correct flight mode