Launch Detector: remove LAUN_CAT_PMAX

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

@@ -1591,15 +1591,11 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
 			const float max_takeoff_throttle = (_launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) ?
 							   _param_fw_thr_idle.get() : _param_fw_thr_max.get();
 
-			// select maximum pitch: the launchdetector may impose another limit for the pitch
-			// depending on the state of the launch
-			const float takeoff_pitch_max_deg = _launchDetector.getPitchMax(_param_fw_p_lim_max.get());
-
 			tecs_update_pitch_throttle(control_interval,
 						   altitude_setpoint_amsl,
 						   target_airspeed,
 						   radians(_param_fw_p_lim_min.get()),
-						   radians(takeoff_pitch_max_deg),
+						   radians(_param_fw_p_lim_max.get()),
 						   _param_fw_thr_min.get(),
 						   max_takeoff_throttle,
 						   false,

src/modules/fw_pos_control_l1/launchdetection/CatapultLaunchMethod.cpp

@@ -109,15 +109,4 @@ void CatapultLaunchMethod::reset()
 	state = LAUNCHDETECTION_RES_NONE;
 }
 
-float CatapultLaunchMethod::getPitchMax(float pitchMaxDefault)
-{
-	/* If motor is turned on do not impose the extra limit on maximum pitch */
-	if (state == LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
-		return pitchMaxDefault;
-
-	} else {
-		return _param_laun_cat_pmax.get();
-	}
-}
-
 } // namespace launchdetection

src/modules/fw_pos_control_l1/launchdetection/CatapultLaunchMethod.h

@@ -58,7 +58,6 @@ public:
 	void update(const float dt, float accel_x) override;
 	LaunchDetectionResult getLaunchDetected() const override;
 	void reset() override;
-	float getPitchMax(float pitchMaxDefault) override;
 
 private:
 	float _integrator{0.0f};
@@ -69,10 +68,7 @@ private:
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::LAUN_CAT_A>) _param_laun_cat_a,
 		(ParamFloat<px4::params::LAUN_CAT_T>) _param_laun_cat_t,
-		(ParamFloat<px4::params::LAUN_CAT_MDEL>) _param_laun_cat_mdel,
-		(ParamFloat<px4::params::LAUN_CAT_PMAX>) _param_laun_cat_pmax /**< Upper pitch limit before throttle is turned on.
-						       Can be used to make sure that the AC does not climb
-						       too much while attached to a bungee */
+		(ParamFloat<px4::params::LAUN_CAT_MDEL>) _param_laun_cat_mdel
 	)
 
 };

src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.cpp

@@ -98,25 +98,4 @@ LaunchDetectionResult LaunchDetector::getLaunchDetected()
 	return LAUNCHDETECTION_RES_NONE;
 }
 
-float LaunchDetector::getPitchMax(float pitchMaxDefault)
-{
-	if (!launchDetectionEnabled()) {
-		return pitchMaxDefault;
-	}
-
-	/* if a lauchdetectionmethod is active or only one exists return the pitch limit from this method,
-	 * otherwise use the default limit */
-	if (_activeLaunchDetectionMethodIndex < 0) {
-		if (sizeof(_launchMethods) / sizeof(LaunchMethod *) > 1) {
-			return pitchMaxDefault;
-
-		} else {
-			return _launchMethods[0]->getPitchMax(pitchMaxDefault);
-		}
-
-	} else {
-		return _launchMethods[_activeLaunchDetectionMethodIndex]->getPitchMax(pitchMaxDefault);
-	}
-}
-
 } // namespace launchdetection

src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.h

@@ -62,9 +62,6 @@ public:
 	LaunchDetectionResult getLaunchDetected();
 	bool launchDetectionEnabled() { return _param_laun_all_on.get(); }
 
-	/* Returns a maximum pitch in deg. Different launch methods may impose upper pitch limits during launch */
-	float getPitchMax(float pitchMaxDefault);
-
 private:
 	/* holds an index to the launchMethod in the array _launchMethods
 	 * which detected a Launch. If no launchMethod has detected a launch yet the

src/modules/fw_pos_control_l1/launchdetection/LaunchMethod.h

@@ -63,9 +63,6 @@ public:
 	virtual LaunchDetectionResult getLaunchDetected() const = 0;
 	virtual void reset() = 0;
 
-	/* Returns a upper pitch limit if required, otherwise returns pitchMaxDefault */
-	virtual float getPitchMax(float pitchMaxDefault) = 0;
-
 };
 
 } // namespace launchdetection

src/modules/fw_pos_control_l1/launchdetection/launchdetection_params.c

@@ -93,18 +93,3 @@ PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f);
  * @group FW Launch detection
  */
 PARAM_DEFINE_FLOAT(LAUN_CAT_MDEL, 0.0f);
-
-/**
- * Maximum pitch before the throttle is powered up (during motor delay phase)
- *
- * This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on.
- * This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep).
- *
- * @unit deg
- * @min 0.0
- * @max 45.0
- * @decimal 1
- * @increment 0.5
- * @group FW Launch detection
- */
-PARAM_DEFINE_FLOAT(LAUN_CAT_PMAX, 30.0f);