FlighTasks: remove FlightTaskSport

This mode was just kept as an example after
its usage in a single case. It's basically untested
and doesn't make much sense anymore since it's
incompatible with the jerk limited trajectory
implementations. It's implementation only switched
hte configuration parameter of the velocity resulting
from maximum stick deflection to be
MPC_XY_VEL_MAX instead of MPC_VEL_MANUAL.
This is according to todays understanding undesired
because when hitting that limit the position
controller has no room for corrections anymore.

Also it saves some flash space on omnibus to remove
the task at this point and makes romm for the
acceleration feed-forward.

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -42,6 +42,7 @@
 #include <lib/flight_tasks/FlightTasks.hpp>
 #include <lib/hysteresis/hysteresis.h>
 #include <lib/mathlib/mathlib.h>
+#include <lib/matrix/matrix/math.hpp>
 #include <lib/perf/perf_counter.h>
 #include <lib/systemlib/mavlink_log.h>
 #include <lib/weather_vane/WeatherVane.hpp>
@@ -74,6 +75,7 @@
 #include <float.h>
 
 using namespace time_literals;
+using namespace matrix;
 
 /**
  * Multicopter position control app start / stop handling function
@@ -849,10 +851,6 @@ MulticopterPositionControl::start_flight_task()
 			error =  _flight_tasks.switchTask(FlightTaskIndex::ManualPositionSmooth);
 			break;
 
-		case 2:
-			error =  _flight_tasks.switchTask(FlightTaskIndex::Sport);
-			break;
-
 		case 3:
 			error =  _flight_tasks.switchTask(FlightTaskIndex::ManualPositionSmoothVel);
 			break;

src/modules/mc_pos_control/mc_pos_control_params.c

@@ -449,7 +449,7 @@ PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
 /**
  * Maximum horizontal acceleration for auto mode and for manual mode
  *
- * Maximum deceleration for MPC_POS_MODE 1 and 2. Maximum acceleration and deceleration for MPC_POS_MODE 3.
+ * Maximum deceleration for MPC_POS_MODE 1. Maximum acceleration and deceleration for MPC_POS_MODE 3.
  *
  * @unit m/s/s
  * @min 2.0
@@ -719,7 +719,6 @@ PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 3.0f);
  *
  * @value 0 Default position control
  * @value 1 Smooth position control
- * @value 2 Sport position control
  * @value 3 Smooth position control (Velocity)
  * @group Multicopter Position Control
  */