mc_pos_control: replace legacy refactor

Until now we replaced legacy position controller functionality inside
the flight task architecture to split up the huge position control
module into the different tasks and have a modular setup with a clear
setpoint interface. This commit removes all the legacy code and hard
switches to using the flight task architecture for multicopter.

This is done because maintaining and testing everything in parallel is
not sustainable. The architecture is by now tested to cover all basic
legacy functionality and missing corner cases can be fixed a lot easier
with the new architecture.

src/modules/mc_pos_control/mc_pos_control_params.c

@@ -609,16 +609,24 @@ PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.0f);
 PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 0.4f);
 
 /**
- * Flag to test flight tasks instead of legacy functionality
- * Temporary Parameter during the transition to flight tasks
+ * Manual-Position control sub-mode.
+ *
+ * The supported sub-modes are:
+ * 0 Default position control where sticks map to position/velocity directly. Maximum speeds
+ * 	 is MPC_VEL_MANUAL.
+ * 1 Smooth position control where setpoints are adjusted based on acceleration limits
+ * 	 and jerk limits.
+ * 2 Sport mode that is the same Default position control but with velocity limits set to
+ * 	 the maximum allowed speeds (MPC_XY_VEL_MAX)
  *
  * @min 0
- * @max 1
- * @value 0 Legacy Functionality
- * @value 1 Test flight tasks
+ * @max 2
+ * @value 0 Default position control
+ * @value 1 Smooth position control
+ * @value 2 Sport position control
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_INT32(MPC_FLT_TSK, 0);
+PARAM_DEFINE_INT32(MPC_POS_MODE, 1);
 
 /**
  * Flag to enable obstacle avoidance