ArduPlane/Attitude.pde

@@ -77,18 +77,9 @@ static void stabilize_roll(float speed_scaler)
         if (ahrs.roll_sensor < 0) nav_roll_cd -= 36000;
     }
 
-    switch (g.att_controller) {
-    case ATT_CONTROL_APMCONTROL:
-        // calculate roll and pitch control using new APM_Control library
-        g.channel_roll.servo_out = g.rollController.get_servo_out(nav_roll_cd, speed_scaler, control_mode == STABILIZE, g.flybywire_airspeed_min);
-        break;
-
-    default:
-        // Calculate dersired servo output for the roll
-        // ---------------------------------------------
-        g.channel_roll.servo_out = g.pidServoRoll.get_pid_4500((nav_roll_cd - ahrs.roll_sensor), speed_scaler);
-        break;
-    }
+    // Calculate dersired servo output for the roll
+    // ---------------------------------------------
+    g.channel_roll.servo_out = g.pidServoRoll.get_pid_4500((nav_roll_cd - ahrs.roll_sensor), speed_scaler);
 }
 
 /*
@@ -99,26 +90,13 @@ static void stabilize_roll(float speed_scaler)
 static void stabilize_pitch(float speed_scaler)
 {
     int32_t demanded_pitch = nav_pitch_cd + g.pitch_trim_cd + g.channel_throttle.servo_out * g.kff_throttle_to_pitch;
-    switch (g.att_controller) {
-    case ATT_CONTROL_APMCONTROL: {
-        g.channel_pitch.servo_out = g.pitchController.get_servo_out(demanded_pitch, 
-                                                                    speed_scaler, 
-                                                                    control_mode == STABILIZE, 
-                                                                    g.flybywire_airspeed_min, g.flybywire_airspeed_max);    
-        break;
-    }
-
-    default: {
-        int32_t tempcalc = demanded_pitch - ahrs.pitch_sensor;
-        tempcalc += fabsf(ahrs.roll_sensor * g.kff_pitch_compensation);
-        if (abs(ahrs.roll_sensor) > 9000) {
-            // when flying upside down the elevator control is inverted
-            tempcalc = -tempcalc;
-        }
-        g.channel_pitch.servo_out = g.pidServoPitch.get_pid_4500(tempcalc, speed_scaler);
-        break;
-    }
+    int32_t tempcalc = demanded_pitch - ahrs.pitch_sensor;
+    tempcalc += fabsf(ahrs.roll_sensor * g.kff_pitch_compensation);
+    if (abs(ahrs.roll_sensor) > 9000) {
+        // when flying upside down the elevator control is inverted
+        tempcalc = -tempcalc;
     }
+    g.channel_pitch.servo_out = g.pidServoPitch.get_pid_4500(tempcalc, speed_scaler);
 }
 
 /*
@@ -346,20 +324,10 @@ static void calc_nav_yaw(float speed_scaler, float ch4_inf)
         return;
     }
 
-    switch (g.att_controller) {
-    case ATT_CONTROL_APMCONTROL:
-        g.channel_rudder.servo_out = g.yawController.get_servo_out(speed_scaler, 
-                                                                   control_mode == STABILIZE, 
-                                                                   g.flybywire_airspeed_min, g.flybywire_airspeed_max);
-        break;
-
-    default:
-        // a PID to coordinate the turn (drive y axis accel to zero)
-        float temp_y = ins.get_accel().y;
-        int32_t error = -temp_y * 100.0f;
-        g.channel_rudder.servo_out = g.pidServoRudder.get_pid_4500(error, speed_scaler);
-        break;
-    }
+    // a PID to coordinate the turn (drive y axis accel to zero)
+    float temp_y = ins.get_accel().y;
+    int32_t error = -temp_y * 100.0f;
+    g.channel_rudder.servo_out = g.pidServoRudder.get_pid_4500(error, speed_scaler);
 
     // add in rudder mixing from roll
     g.channel_rudder.servo_out += g.channel_roll.servo_out * g.kff_rudder_mix;

ArduPlane/Parameters.h

@@ -264,9 +264,6 @@ public:
     // navigation controller type. See AP_Navigation::ControllerType
     AP_Int8  nav_controller;
 
-    // attitude controller type.
-    AP_Int8  att_controller;
-
     // Estimation
     //
     AP_Float altitude_mix;

ArduPlane/Parameters.pde

@@ -138,13 +138,6 @@ const AP_Param::Info var_info[] PROGMEM = {
 	// @User: Standard
 	GSCALAR(nav_controller,          "NAV_CONTROLLER",   AP_Navigation::CONTROLLER_L1),
 
-	// @Param: ATT_CONTROLLER
-	// @DisplayName: Attitude controller selection
-	// @Description: Which attitude (roll, pitch, yaw) controller to enable
-	// @Values: 0:PID,1:APMControl
-	// @User: Standard
-	GSCALAR(att_controller,          "ATT_CONTROLLER",   ATT_CONTROL_PID),
-
     // @Param: ALT_MIX
     // @DisplayName: Gps to Baro Mix
     // @Description: The percent of mixing between gps altitude and baro altitude. 0 = 100% gps, 1 = 100% baro
@@ -691,18 +684,6 @@ const AP_Param::Info var_info[] PROGMEM = {
 	GGROUP(pidServoPitch,           "PTCH2SRV_",  PID),
 	GGROUP(pidServoRudder,          "YW2SRV_",    PID),
 
-    // @Group: CTL_RLL_
-    // @Path: ../libraries/APM_Control/AP_RollController.cpp
-	GGROUP(rollController,          "CTL_RLL_",   AP_RollController),
-
-    // @Group: CTL_PTCH_
-    // @Path: ../libraries/APM_Control/AP_PitchController.cpp
-	GGROUP(pitchController,         "CTL_PTCH_",  AP_PitchController),
-
-    // @Group: CTL_YAW_
-    // @Path: ../libraries/APM_Control/AP_YawController.cpp
-	GGROUP(yawController,           "CTL_YAW_",   AP_YawController),
-
 	// variables not in the g class which contain EEPROM saved variables
 
     // @Group: COMPASS_