Remove PosHold support settings from PID bank

docs/Cli.md

@@ -437,5 +437,7 @@ After restoring it's always a good idea to `dump` or `diff` the settings once ag
 | nav_mc_braking_boost_speed_threshold | 150 | BOOST can be enabled when speed is above this value |
 | nav_mc_braking_boost_disengage_speed | 100 | BOOST will be disabled when speed goes below this value |
 | nav_mc_braking_bank_angle | 40 | max angle that MR is allowed to bank in BOOST mode |
+| nav_mc_pos_deceleration_time | 120 | Used for stoping distance calculation. Stop position is computed as _speed_ * _nav_mc_pos_deceleration_time_ from the place where sticks are released. Braking mode overrides this setting |
+| nav_mc_pos_expo | 10 | Expo for PosHold control |
 | osd_artificial_horizon_max_pitch | 20 | Max pitch, in degrees, for OSD artificial horizon |
 | baro_cal_tolerance | 150 | Baro calibration tolerance in cm. The default  should allow the noisiest baro to complete calibration [cm]. | 

src/main/fc/settings.yaml

@@ -1048,16 +1048,6 @@ groups:
         condition: USE_NAV
         min: 0
         max: 255
-      - name: nav_mc_pos_xy_i
-        field: bank_mc.pid[PID_POS_XY].I
-        condition: USE_NAV
-        min: 0
-        max: 255
-      - name: nav_mc_pos_xy_d
-        field: bank_mc.pid[PID_POS_XY].D
-        condition: USE_NAV
-        min: 0
-        max: 255
       - name: nav_mc_vel_xy_p
         field: bank_mc.pid[PID_VEL_XY].P
         condition: USE_NAV
@@ -1376,6 +1366,16 @@ groups:
         condition: USE_MR_BRAKING_MODE
         min: 15
         max: 60
+      - name: nav_mc_pos_deceleration_time
+        field: mc.posDecelerationTime
+        condition: USE_NAV
+        min: 0
+        max: 255
+      - name: nav_mc_pos_expo
+        field: mc.posResponseExpo
+        condition: USE_NAV
+        min: 0
+        max: 255
       - name: nav_fw_cruise_thr
         field: fw.cruise_throttle
         min: 1000

src/main/flight/pid.c

@@ -126,8 +126,8 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
                 [PID_HEADING] = { 60, 0, 0, 0 },
                 [PID_POS_XY] = {
                     .P = 65,   // NAV_POS_XY_P * 100
-                    .I = 120,  // posDecelerationTime * 100
+                    .I = 0,
-                    .D = 10,   // posResponseExpo * 100
+                    .D = 0,
                     .FF = 0,
                 },
                 [PID_VEL_XY] = {

src/main/navigation/navigation.c

@@ -77,7 +77,7 @@ PG_DECLARE_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList);
 PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 0);
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 3);
+PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 4);
 
 PG_RESET_TEMPLATE(navConfig_t, navConfig,
     .general = {
@@ -127,6 +127,8 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .braking_boost_speed_threshold = 150,   // Boost can happen only above 1.5m/s
         .braking_boost_disengage_speed = 100,   // Disable boost at 1m/s
         .braking_bank_angle = 40,               // Max braking angle     
+        .posDecelerationTime = 120,             // posDecelerationTime * 100
+        .posResponseExpo = 10,                  // posResponseExpo * 100
     },
 
     // Fixed wing
@@ -3025,10 +3027,10 @@ void navigationUsePIDs(void)
 {
     /** Multicopter PIDs */
     // Brake time parameter
-    posControl.posDecelerationTime = (float)pidProfile()->bank_mc.pid[PID_POS_XY].I / 100.0f;
+    posControl.posDecelerationTime = (float)navConfig()->mc.posDecelerationTime / 100.0f;
 
     // Position controller expo (taret vel expo for MC)
-    posControl.posResponseExpo = constrainf((float)pidProfile()->bank_mc.pid[PID_POS_XY].D / 100.0f, 0.0f, 1.0f);
+    posControl.posResponseExpo = constrainf((float)navConfig()->mc.posResponseExpo / 100.0f, 0.0f, 1.0f);
 
     // Initialize position hold P-controller
     for (int axis = 0; axis < 2; axis++) {

src/main/navigation/navigation.h

@@ -167,6 +167,8 @@ typedef struct navConfig_s {
         uint16_t braking_boost_speed_threshold; // Above this speed braking boost mode can engage
         uint16_t braking_boost_disengage_speed; // Below this speed braking boost will disengage
         uint8_t  braking_bank_angle;            // Max angle [deg] that MR is allowed duing braking boost phase
+        uint8_t posDecelerationTime;            // Brake time parameter
+        uint8_t posResponseExpo;                // Position controller expo (taret vel expo for MC)
     } mc;
 
     struct {