fxedwingPositionControl: Add slew rate at the end for all mode instead inside each

src/lib/npfg/npfg.cpp

@@ -502,11 +502,6 @@ void NPFG::updateRollSetpoint()
 	float roll_new = atanf(lateral_accel_ * 1.0f / CONSTANTS_ONE_G);
 	roll_new = math::constrain(roll_new, -roll_lim_rad_, roll_lim_rad_);
 
-	if (dt_ > 0.0f && roll_slew_rate_ > 0.0f) {
-		// slew rate limiting active
-		roll_new = math::constrain(roll_new, roll_setpoint_ - roll_slew_rate_ * dt_, roll_setpoint_ + roll_slew_rate_ * dt_);
-	}
-
 	if (PX4_ISFINITE(roll_new)) {
 		roll_setpoint_ = roll_new;
 	}

src/lib/npfg/npfg.hpp

@@ -247,20 +247,6 @@ public:
 	 */
 	void setRollLimit(float roll_lim_rad) { roll_lim_rad_ = roll_lim_rad; }
 
-	/*
-	 * [Copied directly from ECL_L1_Pos_Controller]
-	 *
-	 * Set roll angle slew rate. Set to zero to deactivate.
-	 */
-	void setRollSlewRate(float roll_slew_rate) { roll_slew_rate_ = roll_slew_rate; }
-
-	/*
-	 * [Copied directly from ECL_L1_Pos_Controller]
-	 *
-	 * Set control loop dt. The value will be used to apply roll angle setpoint slew rate limiting.
-	 */
-	void setDt(const float dt) { dt_ = dt; }
-
 	/*
 	 * [Copied directly from ECL_L1_Pos_Controller]
 	 *
@@ -364,10 +350,8 @@ private:
 	 * ECL_L1_Pos_Controller functionality
 	 */
 
-	float dt_{0}; // control loop time [s]
 	float roll_lim_rad_{math::radians(30.0f)}; // maximum roll angle [rad]
 	float roll_setpoint_{0.0f}; // current roll angle setpoint [rad]
-	float roll_slew_rate_{0.0f}; // roll angle setpoint slew rate limit [rad/s]
 
 	/*
 	 * Adapts the controller period considering user defined inputs, current flight