vehicle_constraints: remove deprecated speed_xy constraint

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp

@@ -160,7 +160,7 @@ bool FlightTaskAuto::_evaluateTriplets()
 
 	if (!PX4_ISFINITE(_mc_cruise_speed) || (_mc_cruise_speed < 0.0f)) {
 		// If no speed is planned use the default cruise speed as limit
-		_mc_cruise_speed = _constraints.speed_xy;
+		_mc_cruise_speed = _param_mpc_xy_cruise.get();
 	}
 
 	// Ensure planned cruise speed is below the maximum such that the smooth trajectory doesn't get capped
@@ -412,16 +412,6 @@ bool FlightTaskAuto::_evaluateGlobalReference()
 	return PX4_ISFINITE(_reference_altitude) && PX4_ISFINITE(ref_lat) && PX4_ISFINITE(ref_lon);
 }
 
-void FlightTaskAuto::_setDefaultConstraints()
-{
-	FlightTask::_setDefaultConstraints();
-
-	// only adjust limits if the new limit is lower
-	if (_constraints.speed_xy >= _param_mpc_xy_cruise.get()) {
-		_constraints.speed_xy = _param_mpc_xy_cruise.get();
-	}
-}
-
 Vector2f FlightTaskAuto::_getTargetVelocityXY()
 {
 	// guard against any bad velocity values

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp

@@ -93,7 +93,6 @@ public:
 	void setYawHandler(WeatherVane *ext_yaw_handler) override {_ext_yaw_handler = ext_yaw_handler;}
 
 protected:
-	void _setDefaultConstraints() override;
 	matrix::Vector2f _getTargetVelocityXY(); /**< only used for follow-me and only here because of legacy reason.*/
 	void _updateInternalWaypoints(); /**< Depending on state of vehicle, the internal waypoints might differ from target (for instance if offtrack). */
 	bool _compute_heading_from_2D_vector(float &heading, matrix::Vector2f v); /**< Computes and sets heading a 2D vector */