chore(guided_course): align speed handling with other auto modes

src/modules/navigator/course.cpp

@@ -52,7 +52,6 @@ Course::on_activation()
 	const vehicle_local_position_s *lpos = _navigator->get_local_position();
 
 	_altitude = _navigator->get_global_position()->alt;
-	_airspeed = -1.f; // default airspeed
 
 	if (lpos->v_xy_valid) {
 		_course = matrix::wrap_2pi(atan2f(lpos->vy, lpos->vx));
@@ -107,7 +106,7 @@ Course::update_setpoint_triplet()
 	pos_sp_triplet->current.yaw = NAN;
 	pos_sp_triplet->current.course = _course;
 
-	pos_sp_triplet->current.cruising_speed = _airspeed;
+	pos_sp_triplet->current.cruising_speed = _navigator->get_cruising_speed();
 	pos_sp_triplet->current.cruising_throttle = NAN;
 	pos_sp_triplet->current.loiter_radius = NAN;
 	pos_sp_triplet->current.acceptance_radius = _navigator->get_acceptance_radius();

src/modules/navigator/course.h

@@ -61,7 +61,6 @@ public:
 	bool set_course(float course_rad);
 
 	void set_altitude(float alt_amsl) { _altitude = alt_amsl; update_setpoint_triplet(); }
-	void set_airspeed(float airspeed) { _airspeed = airspeed; update_setpoint_triplet(); }
 
 private:
 	/**
@@ -71,5 +70,4 @@ private:
 
 	float _course{0.f};		///< [rad] current course bearing (ground track)
 	float _altitude{0.f};		///< [m] AMSL altitude setpoint
-	float _airspeed{-1.f};		///< [m/s] cruising speed setpoint (-1 = default)
 };

src/modules/navigator/navigator_main.cpp

@@ -732,17 +732,9 @@ void Navigator::run()
 					// XXX not differentiating ground and airspeed yet
 					set_cruising_speed(cmd.param2);
 
-					if (_navigation_mode == &_course) {
-						_course.set_airspeed(cmd.param2);
-					}
-
 				} else {
 					reset_cruising_speed();
 
-					if (_navigation_mode == &_course) {
-						_course.set_airspeed(-1.f);
-					}
-
 					/* if no speed target was given try to set throttle */
 					if (cmd.param3 > FLT_EPSILON) {
 						set_cruising_throttle(cmd.param3 / 100);