[NAV] Cleanup pos/vel controllers #5974
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Flight tested on MR (tricopter). PH, RTH, WP, no regressions noted. I can test nav modes on FW later in the week. |
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Cool, thanks! I'll merge this as changes to FW and MC controllers are pretty much identical |
Excellent, it will be tested on FW on Wednesday anyway. .... time passes .... For completeness, avoidance of doubt etc., yes it tests out perfectly on FW as well. |
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Remove redundant code.
Make sure takeoff preparation is always executed for althold.