fw_pos_control: purge L1 controller

ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane

@@ -10,7 +10,7 @@ param set-default EKF2_MAG_YAWLIM 0
 
 param set-default FW_LND_ANG 8
 
-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5

ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam

@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 
-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 
-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5

ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal

@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5
 
-param set-default FW_L1_PERIOD 25
+param set-default NPFG_PERIOD 25
 
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05

ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric

@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5
 
-param set-default FW_L1_PERIOD 25
+param set-default NPFG_PERIOD 25
 
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05

ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod

@@ -10,8 +10,6 @@ param set-default EKF2_MAG_YAWLIM 0
 
 param set-default FW_LND_ANG 8
 
-param set-default FW_L1_PERIOD 15
-
 param set-default FW_P_TC 0.5
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -22,7 +20,7 @@ param set-default FW_RR_FF 0.20
 param set-default FW_RR_I 0.02
 param set-default FW_RR_P 0.22
 
-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 
 param set-default FW_W_EN 1
 

ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo

@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5
 
-param set-default FW_L1_PERIOD 25
+param set-default NPFG_PERIOD 25
 
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05

ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer

@@ -10,7 +10,7 @@ param set-default EKF2_MAG_YAWLIM 0
 
 param set-default FW_LND_ANG 8
 
-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2

ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider

@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 
-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5

ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal

@@ -11,7 +11,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5
 
-param set-default FW_L1_PERIOD 25
+param set-default NPFG_PERIOD 25
 
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05

ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane

@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_ANG 8
 param set-default FW_THR_LND_MAX 0
 
-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 
 param set-default FW_MAN_P_MAX 30
 

ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol

@@ -47,7 +47,7 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 
-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2

ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter

@@ -42,7 +42,7 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_REV 96 # invert both elevons
 
-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 param set-default FW_PR_I 0.2
 param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2

ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor

@@ -46,7 +46,7 @@ param set-default PWM_MAIN_FUNC7 201
 param set-default PWM_MAIN_FUNC8 202
 param set-default PWM_MAIN_FUNC9 203
 
-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2

ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop

@@ -47,7 +47,7 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 
-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2

ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar

@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 
-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -15,7 +15,7 @@ param set-default EKF2_MAG_YAWLIM 0
 
 param set-default FW_LND_ANG 8
 
-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -38,7 +38,7 @@ param set-default EKF2_GPS_P_GATE 10
 param set-default EKF2_GPS_V_GATE 10
 
 param set-default FW_ARSP_MODE 1
-param set-default FW_L1_PERIOD 25
+param set-default NPFG_PERIOD 25
 param set-default FW_PR_FF 0.7
 param set-default FW_PR_I 0.18
 param set-default FW_PR_P 0.15

src/modules/fw_pos_control_l1/CMakeLists.txt

@@ -41,7 +41,6 @@ px4_add_module(
 		FixedwingPositionControl.cpp
 		FixedwingPositionControl.hpp
 	DEPENDS
-		l1
 		launchdetection
     npfg
 		runway_takeoff

src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

@@ -100,12 +100,6 @@ FixedwingPositionControl::parameters_update()
 		param_get(_param_handle_airspeed_trans, &_param_airspeed_trans);
 	}
 
-	// L1 control parameters
-	_l1_control.set_l1_damping(_param_fw_l1_damping.get());
-	_l1_control.set_l1_period(_param_fw_l1_period.get());
-	_l1_control.set_l1_roll_limit(radians(_param_fw_r_lim.get()));
-	_l1_control.set_roll_slew_rate(radians(_param_fw_l1_r_slew_max.get()));
-
 	// NPFG parameters
 	_npfg.setPeriod(_param_npfg_period.get());
 	_npfg.setDamping(_param_npfg_damping.get());
@@ -399,7 +393,7 @@ FixedwingPositionControl::adapt_airspeed_setpoint(const float control_interval,
 	}
 
 	// Adapt cruise airspeed when otherwise the min groundspeed couldn't be maintained
-	if (!_l1_control.circle_mode() && !using_npfg_with_wind_estimate()) {
+	if (!_wind_valid) {
 		/*
 		 * This error value ensures that a plane (as long as its throttle capability is
 		 * not exceeded) travels towards a waypoint (and is not pushed more and more away
@@ -516,19 +510,6 @@ FixedwingPositionControl::status_publish()
 	pos_ctrl_status.nav_roll = _att_sp.roll_body;
 	pos_ctrl_status.nav_pitch = _att_sp.pitch_body;
 
-	if (_l1_control.has_guidance_updated()) {
-		pos_ctrl_status.nav_bearing = _l1_control.nav_bearing();
-
-		pos_ctrl_status.target_bearing = _l1_control.target_bearing();
-		pos_ctrl_status.xtrack_error = _l1_control.crosstrack_error();
-
-	} else {
-		pos_ctrl_status.nav_bearing = NAN;
-		pos_ctrl_status.target_bearing = NAN;
-		pos_ctrl_status.xtrack_error = NAN;
-	}
-
-	if (_param_fw_use_npfg.get()) {
 	npfg_status_s npfg_status = {};
 
 	npfg_status.wind_est_valid = _wind_valid;
@@ -557,10 +538,6 @@ FixedwingPositionControl::status_publish()
 
 	_npfg_status_pub.publish(npfg_status);
 
-	} else {
-		pos_ctrl_status.acceptance_radius = _l1_control.switch_distance(500.0f);
-	}
-
 	pos_ctrl_status.wp_dist = get_distance_to_next_waypoint(_current_latitude, _current_longitude,
 				  _pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon);
 
@@ -996,7 +973,7 @@ FixedwingPositionControl::handle_setpoint_type(const position_setpoint_s &pos_sp
 	/* current waypoint (the one currently heading for) */
 	curr_wp = Vector2d(pos_sp_curr.lat, pos_sp_curr.lon);
 
-	const float acc_rad = (_param_fw_use_npfg.get()) ? _npfg.switchDistance(500.0f) : _l1_control.switch_distance(500.0f);
+	const float acc_rad = _npfg.switchDistance(500.0f);
 
 	if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_POSITION
 	    || pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
@@ -1027,15 +1004,6 @@ FixedwingPositionControl::handle_setpoint_type(const position_setpoint_s &pos_sp
 				// SETPOINT_TYPE_POSITION -> SETPOINT_TYPE_LOITER
 				position_sp_type = position_setpoint_s::SETPOINT_TYPE_LOITER;
 			}
-
-		} else if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
-			// LOITER: use SETPOINT_TYPE_POSITION to get to SETPOINT_TYPE_LOITER (NPFG handles this internally)
-			if ((dist >= 0.f)
-			    && (dist_xy > 2.f * math::max(acc_rad, loiter_radius_abs))
-			    && !_param_fw_use_npfg.get()) {
-				// SETPOINT_TYPE_LOITER -> SETPOINT_TYPE_POSITION
-				position_sp_type = position_setpoint_s::SETPOINT_TYPE_POSITION;
-			}
 		}
 	}
 
@@ -1046,7 +1014,7 @@ void
 FixedwingPositionControl::control_auto_position(const float control_interval, const Vector2d &curr_pos,
 		const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr)
 {
-	const float acc_rad = (_param_fw_use_npfg.get()) ? _npfg.switchDistance(500.0f) : _l1_control.switch_distance(500.0f);
+	const float acc_rad = _npfg.switchDistance(500.0f);
 	Vector2d curr_wp{0, 0};
 	Vector2d prev_wp{0, 0};
 
@@ -1120,7 +1088,6 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co
 	Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1));
 	Vector2f prev_wp_local = _global_local_proj_ref.project(prev_wp(0), prev_wp(1));
 
-	if (_param_fw_use_npfg.get()) {
 	_npfg.setAirspeedNom(target_airspeed * _eas2tas);
 	_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
 
@@ -1139,11 +1106,6 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co
 	_att_sp.roll_body = _npfg.getRollSetpoint();
 	target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
 
-	} else {
-		_l1_control.navigate_waypoints(prev_wp_local, curr_wp_local, curr_pos_local, get_nav_speed_2d(ground_speed));
-		_att_sp.roll_body = _l1_control.get_roll_setpoint();
-	}
-
 	_att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw
 
 	tecs_update_pitch_throttle(control_interval,
@@ -1186,7 +1148,6 @@ FixedwingPositionControl::control_auto_velocity(const float control_interval, co
 	float target_airspeed = adapt_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed,
 				_param_fw_airspd_min.get(), ground_speed);
 
-	if (_param_fw_use_npfg.get()) {
 	Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
 	_npfg.setAirspeedNom(target_airspeed * _eas2tas);
 	_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
@@ -1194,11 +1155,6 @@ FixedwingPositionControl::control_auto_velocity(const float control_interval, co
 	_att_sp.roll_body = _npfg.getRollSetpoint();
 	target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
 
-	} else {
-		_l1_control.navigate_heading(_target_bearing, _yaw, ground_speed);
-		_att_sp.roll_body = _l1_control.get_roll_setpoint();
-	}
-
 	_att_sp.yaw_body = _yaw;
 
 	tecs_update_pitch_throttle(control_interval,
@@ -1286,7 +1242,6 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
 	float target_airspeed = adapt_airspeed_setpoint(control_interval, airspeed_sp, _param_fw_airspd_min.get(),
 				ground_speed);
 
-	if (_param_fw_use_npfg.get()) {
 	_npfg.setAirspeedNom(target_airspeed * _eas2tas);
 	_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
 	navigateLoiter(curr_wp_local, curr_pos_local, loiter_radius, pos_sp_curr.loiter_direction_counter_clockwise,
@@ -1295,13 +1250,6 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
 	_att_sp.roll_body = _npfg.getRollSetpoint();
 	target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
 
-	} else {
-		_l1_control.navigate_loiter(curr_wp_local, curr_pos_local, loiter_radius,
-					    pos_sp_curr.loiter_direction_counter_clockwise,
-					    get_nav_speed_2d(ground_speed));
-		_att_sp.roll_body = _l1_control.get_roll_setpoint();
-	}
-
 	_att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw
 
 	float alt_sp = pos_sp_curr.alt;
@@ -1391,8 +1339,6 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
 		// tune up the lateral position control guidance when on the ground
 		if (_att_sp.fw_control_yaw_wheel) {
 			_npfg.setPeriod(_param_rwto_l1_period.get());
-			_l1_control.set_l1_period(_param_rwto_l1_period.get());
-
 		}
 
 		const Vector2f start_pos_local = _global_local_proj_ref.project(_runway_takeoff.getStartPosition()(0),
@@ -1407,7 +1353,6 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
 			takeoff_bearing_vector = calculateTakeoffBearingVector(start_pos_local, takeoff_waypoint_local);
 		}
 
-		if (_param_fw_use_npfg.get()) {
 		_npfg.setAirspeedNom(target_airspeed * _eas2tas);
 		_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
 		navigatePathTangent(local_2D_position, start_pos_local, takeoff_bearing_vector, ground_speed,
@@ -1423,22 +1368,6 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
 		// heading hold mode will override this bearing setpoint
 		_att_sp.yaw_body = _runway_takeoff.getYaw(bearing);
 
-		} else {
-			// make a fake waypoint in the direction of the takeoff bearing
-			const Vector2f virtual_waypoint = start_pos_local + takeoff_bearing_vector * HDG_HOLD_DIST_NEXT;
-
-			_l1_control.navigate_waypoints(start_pos_local, virtual_waypoint, local_2D_position, ground_speed);
-
-			const float l1_roll_setpoint = _l1_control.get_roll_setpoint();
-			_att_sp.roll_body = _runway_takeoff.getRoll(l1_roll_setpoint);
-
-			// use l1's nav bearing to command course, controlled via yaw angle while on runway
-			const float bearing = _l1_control.nav_bearing();
-
-			// heading hold mode will override this bearing setpoint
-			_att_sp.yaw_body = _runway_takeoff.getYaw(bearing);
-		}
-
 		// update tecs
 		const float pitch_max = _runway_takeoff.getMaxPitch(math::radians(_param_fw_p_lim_max.get()));
 		const float pitch_min = _runway_takeoff.getMinPitch(math::radians(_takeoff_pitch_min.get()),
@@ -1512,7 +1441,6 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
 		    && _param_fw_laun_detcn_on.get()) {
 			/* Launch has been detected, hence we have to control the plane. */
 
-			if (_param_fw_use_npfg.get()) {
 			_npfg.setAirspeedNom(target_airspeed * _eas2tas);
 			_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
 			navigatePathTangent(local_2D_position, launch_local_position, takeoff_bearing_vector, ground_speed, _wind_vel,
@@ -1520,12 +1448,6 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
 			_att_sp.roll_body = _npfg.getRollSetpoint();
 			target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
 
-			} else {
-				// make a fake waypoint in the direction of the takeoff bearing
-				const Vector2f virtual_waypoint = launch_local_position + takeoff_bearing_vector * HDG_HOLD_DIST_NEXT;
-				_l1_control.navigate_waypoints(launch_local_position, virtual_waypoint, local_2D_position, ground_speed);
-				_att_sp.roll_body = _l1_control.get_roll_setpoint();
-			}
 
 			const float max_takeoff_throttle = (_launchDetector.getLaunchDetected() < launch_detection_status_s::STATE_FLYING) ?
 							   _param_fw_thr_idle.get() : _param_fw_thr_max.get();
@@ -1658,14 +1580,10 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
 		// tune up the lateral position control guidance when on the ground
 		const float ground_roll_npfg_period = flare_ramp_interpolator * _param_rwto_l1_period.get() +
 						      (1.0f - flare_ramp_interpolator) * _param_npfg_period.get();
-		const float ground_roll_l1_period = flare_ramp_interpolator * _param_rwto_l1_period.get() +
-						    (1.0f - flare_ramp_interpolator) * _param_fw_l1_period.get();
 		_npfg.setPeriod(ground_roll_npfg_period);
-		_l1_control.set_l1_period(ground_roll_l1_period);
 
 		const Vector2f local_approach_entrance = local_land_point - landing_approach_vector;
 
-		if (_param_fw_use_npfg.get()) {
 		_npfg.setAirspeedNom(target_airspeed * _eas2tas);
 		_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
 		navigateWaypoints(local_approach_entrance, local_land_point, local_position, ground_speed, _wind_vel);
@@ -1675,23 +1593,6 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
 		// use npfg's bearing to commanded course, controlled via yaw angle while on runway
 		_att_sp.yaw_body = _npfg.getBearing();
 
-		} else {
-			// make a fake waypoint beyond the land point in the direction of the landing approach bearing
-			// (always HDG_HOLD_DIST_NEXT meters in front of the aircraft's progress along the landing approach vector)
-
-			const float along_track_distance_from_entrance = landing_approach_vector.unit_or_zero().dot(
-						local_position - local_approach_entrance);
-
-			const Vector2f virtual_waypoint = local_approach_entrance + (along_track_distance_from_entrance + HDG_HOLD_DIST_NEXT) *
-							  landing_approach_vector.unit_or_zero();
-
-			_l1_control.navigate_waypoints(local_approach_entrance, virtual_waypoint, local_position, ground_speed);
-			_att_sp.roll_body = _l1_control.get_roll_setpoint();
-
-			// use l1's nav bearing to command course, controlled via yaw angle while on runway
-			_att_sp.yaw_body = _l1_control.nav_bearing();
-		}
-
 		/* longitudinal guidance */
 
 		const float flare_ramp_interpolator_sqrt = sqrtf(flare_ramp_interpolator);
@@ -1762,27 +1663,12 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
 
 		const Vector2f local_approach_entrance = local_land_point - landing_approach_vector;
 
-		if (_param_fw_use_npfg.get()) {
 		_npfg.setAirspeedNom(target_airspeed * _eas2tas);
 		_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
 		navigateWaypoints(local_approach_entrance, local_land_point, local_position, ground_speed, _wind_vel);
 		target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
 		_att_sp.roll_body = _npfg.getRollSetpoint();
 
-		} else {
-			// make a fake waypoint beyond the land point in the direction of the landing approach bearing
-			// (always HDG_HOLD_DIST_NEXT meters in front of the aircraft's progress along the landing approach vector)
-
-			const float along_track_distance_from_entrance = landing_approach_vector.unit_or_zero().dot(
-						local_position - local_approach_entrance);
-
-			const Vector2f virtual_waypoint = local_approach_entrance + (along_track_distance_from_entrance + HDG_HOLD_DIST_NEXT) *
-							  landing_approach_vector.unit_or_zero();
-
-			_l1_control.navigate_waypoints(local_approach_entrance, virtual_waypoint, local_position, ground_speed);
-			_att_sp.roll_body = _l1_control.get_roll_setpoint();
-		}
-
 		/* longitudinal guidance */
 
 		// open the desired max sink rate to encompass the glide slope if within the aircraft's performance limits
@@ -1937,19 +1823,12 @@ FixedwingPositionControl::control_manual_position(const float control_interval,
 			Vector2f prev_wp_local = _global_local_proj_ref.project(prev_wp(0),
 						 prev_wp(1));
 
-			if (_param_fw_use_npfg.get()) {
 			_npfg.setAirspeedNom(calibrated_airspeed_sp * _eas2tas);
 			_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
 			navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
 			_att_sp.roll_body = _npfg.getRollSetpoint();
 			calibrated_airspeed_sp = _npfg.getAirspeedRef() / _eas2tas;
 
-			} else {
-				/* populate l1 control setpoint */
-				_l1_control.navigate_waypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed);
-				_att_sp.roll_body = _l1_control.get_roll_setpoint();
-			}
-
 			_att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw
 		}
 	}
@@ -2186,20 +2065,14 @@ FixedwingPositionControl::Run()
 		update_in_air_states(_local_pos.timestamp);
 
 		// update lateral guidance timesteps for slewrates
-		if (_param_fw_use_npfg.get()) {
 		_npfg.setDt(control_interval);
 
-		} else {
-			_l1_control.set_dt(control_interval);
-		}
-
 		// restore nominal TECS parameters in case changed intermittently (e.g. in landing handling)
 		_tecs.set_speed_weight(_param_fw_t_spdweight.get());
 		_tecs.set_altitude_error_time_constant(_param_fw_t_h_error_tc.get());
 
 		// restore lateral-directional guidance parameters (changed in takeoff mode)
 		_npfg.setPeriod(_param_npfg_period.get());
-		_l1_control.set_l1_period(_param_fw_l1_period.get());
 
 		_att_sp.reset_integral = false;
 		_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
@@ -2295,8 +2168,6 @@ FixedwingPositionControl::Run()
 
 				}
 			}
-
-			_l1_control.reset_has_guidance_updated();
 		}
 
 		perf_end(_loop_perf);
@@ -2333,19 +2204,13 @@ FixedwingPositionControl::reset_landing_state()
 	}
 }
 
-bool FixedwingPositionControl::using_npfg_with_wind_estimate() const
-{
-	// high wind mitigation is handled by NPFG if the wind estimate is valid
-	return _param_fw_use_npfg.get() && _wind_valid;
-}
-
 Vector2f
 FixedwingPositionControl::get_nav_speed_2d(const Vector2f &ground_speed)
 {
 
 	Vector2f nav_speed_2d{ground_speed};
 
-	if (_airspeed_valid && !using_npfg_with_wind_estimate()) {
+	if (_airspeed_valid && !_wind_valid) {
 		// l1 navigation logic breaks down when wind speed exceeds max airspeed
 		// compute 2D groundspeed from airspeed-heading projection
 		const Vector2f air_speed_2d{_airspeed * cosf(_yaw), _airspeed * sinf(_yaw)};
@@ -2683,14 +2548,7 @@ void FixedwingPositionControl::publishLocalPositionSetpoint(const position_setpo
 
 	Vector2f current_setpoint;
 
-	if (!_param_fw_use_npfg.get()) {
-		if (_global_local_proj_ref.isInitialized()) {
-			current_setpoint = _global_local_proj_ref.project(current_waypoint.lat, current_waypoint.lon);
-		}
-
-	} else {
 	current_setpoint = _closest_point_on_path;
-	}
 
 	local_position_setpoint.x = current_setpoint(0);
 	local_position_setpoint.y = current_setpoint(1);

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp

@@ -55,7 +55,6 @@
 
 #include <drivers/drv_hrt.h>
 #include <lib/geo/geo.h>
-#include <lib/l1/ECL_L1_Pos_Controller.hpp>
 #include <lib/npfg/npfg.hpp>
 #include <lib/tecs/TECS.hpp>
 #include <lib/mathlib/mathlib.h>
@@ -415,9 +414,6 @@ private:
 	// CLosest point on path to track
 	matrix::Vector2f _closest_point_on_path;
 
-	// L1 guidance - lateral-directional position control
-	ECL_L1_Pos_Controller _l1_control;
-
 	// nonlinear path following guidance - lateral-directional position control
 	NPFG _npfg;
 
@@ -658,8 +654,6 @@ private:
 	void reset_takeoff_state();
 	void reset_landing_state();
 
-	bool using_npfg_with_wind_estimate() const;
-
 	/**
 	 * @brief Returns the velocity vector to be input in the lateral-directional guidance laws.
 	 *
@@ -847,12 +841,9 @@ private:
 
 		(ParamFloat<px4::params::FW_GND_SPD_MIN>) _param_fw_gnd_spd_min,
 
-		(ParamFloat<px4::params::FW_L1_DAMPING>) _param_fw_l1_damping,
-		(ParamFloat<px4::params::FW_L1_PERIOD>) _param_fw_l1_period,
 		(ParamFloat<px4::params::FW_L1_R_SLEW_MAX>) _param_fw_l1_r_slew_max,
 		(ParamFloat<px4::params::FW_R_LIM>) _param_fw_r_lim,
 
-		(ParamBool<px4::params::FW_USE_NPFG>) _param_fw_use_npfg,
 		(ParamFloat<px4::params::NPFG_PERIOD>) _param_npfg_period,
 		(ParamFloat<px4::params::NPFG_DAMPING>) _param_npfg_damping,
 		(ParamBool<px4::params::NPFG_LB_PERIOD>) _param_npfg_en_period_lb,

src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c

@@ -31,48 +31,6 @@
  *
  ****************************************************************************/
 
-/**
- * @file fw_pos_control_l1_params.c
- *
- * Parameters defined by the L1 position control task
- *
- * @author Lorenz Meier <lorenz@px4.io>
- */
-
-/*
- * Controller parameters, accessible via MAVLink
- */
-
-/**
- * L1 period
- *
- * Used to determine the L1 gain and controller time constant. This parameter is
- * proportional to the L1 distance (which points ahead of the aircraft on the path
- * it is following). A value of 18-25 seconds works for most aircraft. Shorten
- * slowly during tuning until response is sharp without oscillation.
- *
- * @unit s
- * @min 7.0
- * @max 50.0
- * @decimal 1
- * @increment 0.5
- * @group FW L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 20.0f);
-
-/**
- * L1 damping
- *
- * Damping factor for L1 control.
- *
- * @min 0.6
- * @max 0.9
- * @decimal 2
- * @increment 0.05
- * @group FW L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
-
 /**
  * L1 controller roll slew rate limit.
  *
@@ -86,16 +44,6 @@ PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
  */
 PARAM_DEFINE_FLOAT(FW_L1_R_SLEW_MAX, 90.0f);
 
-/**
- * Use NPFG as lateral-directional guidance law for fixed-wing vehicles
- *
- * Replaces L1.
- *
- * @boolean
- * @group FW NPFG Control
- */
-PARAM_DEFINE_INT32(FW_USE_NPFG, 1);
-
 /**
  * NPFG period
  *