AP_TECS: continue code murdering spree

libraries/AP_TECS/AP_TECS.cpp

@@ -552,18 +552,6 @@ void AP_TECS::_update_height_demand(void)
         _hgt_rate_dem = constrain_float(_hgt_rate_dem, -_sink_rate_limit, _climb_rate_limit);
 
         _hgt_dem = _hgt_dem_in_raw;
-    } else {
-        // set all height filter states to current height to prevent large pitch transients if flare is aborted
-        _hgt_dem_lpf      = _height;
-
-        if (!_flare_initialised) {
-            _hgt_at_start_of_flare = _hgt_afe;
-            _flare_initialised = true;
-        }
-
-        // Go to pure sink rate control for flare. Sink rate is already constrained.
-        _hgt_dem = _height;
-        _hgt_rate_dem = -_sink_rate_limit;
     }
 }
 
@@ -1093,7 +1081,6 @@ void AP_TECS::_initialise_states(int32_t ptchMinCO_cd, float hgt_afe)
 
         // misc variables used for alternative precision landing pitch control
         _hgt_afe                  = 0.0f;
-        _pitch_min_at_flare_entry = 0.0f;
 
         _max_climb_scaler = 1.0f;
         _max_sink_scaler = 1.0f;
@@ -1219,16 +1206,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
 
     // calculate the expected pitch angle from the demanded climb rate and airspeed fo ruse during approach and flare
     if (_landing.is_flaring()) {
-        // smoothly move the min pitch to the required minimum at touchdown
-        float p; // 0 at start of flare, 1 at finish
-        if (!_flare_initialised) {
-            p = 0.0f;
-        } else if (_hgt_at_start_of_flare > _flare_holdoff_hgt) {
-            p = constrain_float((_hgt_at_start_of_flare - _hgt_afe) / _hgt_at_start_of_flare, 0.0f, 1.0f);
-        } else {
-            p = 1.0f;
-        }
-        const float pitch_limit_deg = (1.0f - p) * _pitch_min_at_flare_entry + p * 0.01f * _landing.get_pitch_cd();
+        const float pitch_limit_deg = _landing.get_pitch_cd();
 
         // in flare use min pitch from LAND_PITCH_DEG
         _PITCHminf = MAX(_PITCHminf, pitch_limit_deg);
@@ -1243,10 +1221,6 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
         _THRminf = 0;
     } else if (_landing.is_on_approach()) {
         _PITCHminf = MAX(_PITCHminf, aparm.pitch_limit_min);
-        _pitch_min_at_flare_entry = _PITCHminf;
-        _flare_initialised = false;
-    } else {
-        _flare_initialised = false;
     }
 
     if (_landing.is_on_approach()) {

libraries/AP_TECS/AP_TECS.h

@@ -382,10 +382,7 @@ class AP_TECS {
     float _SKEdot;
 
     // variables used for precision landing pitch control
-    float _hgt_at_start_of_flare;
-    float _hgt_rate_at_flare_entry;
     float _hgt_afe;
-    float _pitch_min_at_flare_entry;
 
     // used to scale max climb and sink limits to match vehicle ability
     float _max_climb_scaler;