Rover: remove next_WP, wp_distance, navigate

Also remove prev_WP, wp_totalDistance which are all handled within mode class

APMrover2/Rover.h

@@ -308,12 +308,6 @@ private:
     uint32_t control_sensors_enabled;
     uint32_t control_sensors_health;
 
-    // Waypoint distances
-    // Distance between rover and next waypoint.  Meters
-    float wp_distance;
-    // Distance between previous and next waypoint.  Meters
-    int32_t wp_totalDistance;
-
     // Conditional command
     // A value used in condition commands (eg delay, change alt, etc.)
     // For example in a change altitude command, it is the altitude to change to.
@@ -336,11 +330,6 @@ private:
     // true if the compass's initial location has been set
     bool compass_init_location;
 
-    // The location of the previous waypoint.  Used for track following and altitude ramp calculations
-    struct Location prev_WP;
-    // The location of the current/active waypoint.  Used for track following
-    struct Location next_WP;
-
     // IMU variables
     // The main loop execution time.  Seconds
     // This is the time between calls to the DCM algorithm and is the Integration time for the gyros.

APMrover2/commands.cpp

@@ -56,9 +56,6 @@ bool Rover::set_home(const Location& loc, bool lock)
                 DataFlash.Log_Write_Mission_Cmd(mission, temp_cmd);
             }
         }
-
-        // initialise navigation to home
-        next_WP = prev_WP = home;
     }
 
     // lock home position

APMrover2/control_modes.cpp

@@ -76,7 +76,6 @@ void Rover::read_control_switch()
         }
 
         oldSwitchPosition = switchPosition;
-        prev_WP = current_loc;
 
         // reset speed integrator
         g.pidSpeedThrottle.reset_I();

APMrover2/navigation.cpp

@@ -1,23 +0,0 @@
-#include "Rover.h"
-
-//****************************************************************
-// Function that will calculate the desired direction to fly and distance
-//****************************************************************
-void Rover::navigate()
-{
-    // do not navigate with corrupt data
-    // ---------------------------------
-    if (!have_position) {
-        return;
-    }
-
-    if ((next_WP.lat == 0 && next_WP.lng == 0) || (home_is_set == HOME_UNSET)) {
-        return;
-    }
-
-    // waypoint distance from rover
-    // ----------------------------
-    wp_distance = get_distance(current_loc, next_WP);
-}
-
-