Sub: Remove VELHOLD mode

Obsolete since GUIDED implemented

ArduSub/GCS_Mavlink.cpp

@@ -49,7 +49,6 @@ NOINLINE void Sub::send_heartbeat(mavlink_channel_t chan)
     base_mode = MAV_MODE_FLAG_STABILIZE_ENABLED;
     switch (control_mode) {
     case AUTO:
-    case VELHOLD:
     case GUIDED:
     case CIRCLE:
     case POSHOLD:
@@ -140,7 +139,6 @@ NOINLINE void Sub::send_extended_status1(mavlink_channel_t chan)
     case ALT_HOLD:
     case AUTO:
     case GUIDED:
-    case VELHOLD:
     case CIRCLE:
     case SURFACE:
     case POSHOLD:

ArduSub/Sub.h

@@ -610,8 +610,7 @@ private:
     void guided_limit_set(uint32_t timeout_ms, float alt_min_cm, float alt_max_cm, float horiz_max_cm);
     void guided_limit_init_time_and_pos();
     bool guided_limit_check();
-    bool velhold_init(bool ignore_checks);
-    void velhold_run();
+
     bool poshold_init(bool ignore_checks);
     void poshold_run();
 

ArduSub/defines.h

@@ -40,7 +40,6 @@ enum control_mode_t {
     ALT_HOLD =      2,  // manual angle with automatic depth/throttle
     AUTO =          3,  // not implemented in sub // fully automatic waypoint control using mission commands
     GUIDED =        4,  // not implemented in sub // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
-    VELHOLD =       5,  // automatic x/y velocity control and automatic depth/throttle
     CIRCLE =        7,  // not implemented in sub // automatic circular flight with automatic throttle
     SURFACE =       9,  // automatically return to surface, pilot maintains horizontal control
     POSHOLD =      16,  // automatic position hold with manual override, with automatic throttle

ArduSub/flight_mode.cpp

@@ -45,10 +45,6 @@ bool Sub::set_mode(control_mode_t mode, mode_reason_t reason)
         success = circle_init(ignore_checks);
         break;
 
-    case VELHOLD:
-        success = velhold_init(ignore_checks);
-        break;
-
     case GUIDED:
         success = guided_init(ignore_checks);
         break;
@@ -132,10 +128,6 @@ void Sub::update_flight_mode()
         circle_run();
         break;
 
-    case VELHOLD:
-        velhold_run();
-        break;
-
     case GUIDED:
         guided_run();
         break;
@@ -179,7 +171,6 @@ bool Sub::mode_requires_GPS(control_mode_t mode)
     switch (mode) {
     case AUTO:
     case GUIDED:
-    case VELHOLD:
     case CIRCLE:
     case POSHOLD:
         return true;
@@ -209,7 +200,7 @@ bool Sub::mode_has_manual_throttle(control_mode_t mode)
 //  arming_from_gcs should be set to true if the arming request comes from the ground station
 bool Sub::mode_allows_arming(control_mode_t mode, bool arming_from_gcs)
 {
-    if (mode_has_manual_throttle(mode) || mode == VELHOLD || mode == ALT_HOLD || mode == POSHOLD || (arming_from_gcs && mode == GUIDED)) {
+    if (mode_has_manual_throttle(mode) || mode == ALT_HOLD || mode == POSHOLD || (arming_from_gcs && mode == GUIDED)) {
         return true;
     }
     return false;
@@ -254,9 +245,6 @@ void Sub::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
     case GUIDED:
         port->print("GUIDED");
         break;
-    case VELHOLD:
-        port->print("VELHOLD");
-        break;
     case CIRCLE:
         port->print("CIRCLE");
         break;