From e6968395c63c3001a886d69db15a5daee755460c Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 4 Sep 2021 16:49:58 +0100
Subject: [PATCH] Plane: remove none-functional NAV_CONTROLLER param

---
 ArduPlane/Parameters.cpp |  7 -------
 ArduPlane/Parameters.h   |  5 +----
 ArduPlane/Plane.h        |  1 -
 ArduPlane/navigation.cpp | 18 ------------------
 ArduPlane/system.cpp     |  3 ---
 5 files changed, 1 insertion(+), 33 deletions(-)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 4cf73437d2..d4c8b5701d 100644
--- a/ArduPlane/Parameters.cpp
+++ b/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
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index e74f168149..63b4be8463 100644
--- a/ArduPlane/Parameters.h
+++ b/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
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index b54fb67627..5fbc82b0fa 100644
--- a/ArduPlane/Plane.h
+++ b/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();
diff --git a/ArduPlane/navigation.cpp b/ArduPlane/navigation.cpp
index 32c1f82069..e6d073aec7 100644
--- a/ArduPlane/navigation.cpp
+++ b/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) {
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 4e45b7a83d..35ce1ff2d5 100644
--- a/ArduPlane/system.cpp
+++ b/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