delete SYS_CTRL_ALLOC

src/lib/mixer_module/mixer_module.hpp

@@ -277,7 +277,6 @@ private:
 
 	perf_counter_t _control_latency_perf;
 
-	/* SYS_CTRL_ALLOC == 1 */
 	FunctionProviderBase *_function_allocated[MAX_ACTUATORS] {}; ///< unique allocated functions
 	FunctionProviderBase *_functions[MAX_ACTUATORS] {}; ///< currently assigned functions
 	OutputFunction _function_assignment[MAX_ACTUATORS] {};
@@ -296,8 +295,6 @@ private:
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode,   ///< multicopter air-mode
 		(ParamFloat<px4::params::MOT_SLEW_MAX>) _param_mot_slew_max,
-		(ParamFloat<px4::params::THR_MDL_FAC>) _param_thr_mdl_fac, ///< thrust to motor control signal modelling factor
-		(ParamBool<px4::params::SYS_CTRL_ALLOC>) _param_sys_ctrl_alloc
-
+		(ParamFloat<px4::params::THR_MDL_FAC>) _param_thr_mdl_fac ///< thrust to motor control signal modelling factor
 	)
 };

src/lib/mixer_module/mixer_module_tests.cpp

@@ -63,9 +63,6 @@ public:
 	void SetUp() override
 	{
 		param_control_autosave(false);
-
-		int32_t v = 1;
-		param_set(param_find("SYS_CTRL_ALLOC"), &v);
 	}
 
 	int update(MixingOutput &mixing_output)

src/lib/systemlib/system_params.c

@@ -280,17 +280,3 @@ PARAM_DEFINE_INT32(SYS_BL_UPDATE, 0);
  * @group System
  */
 PARAM_DEFINE_INT32(SYS_FAILURE_EN, 0);
-
-
-/**
- * Enable Dynamic Control Allocation
- *
- * If disabled, the existing mixing implementation is used.
- * If enabled, dynamic control allocation with runtime configuration of the
- * mixing and output functions is used.
- *
- * @boolean
- * @reboot_required true
- * @group System
- */
-PARAM_DEFINE_INT32(SYS_CTRL_ALLOC, 1);