Drop no longer previous generation dampening solution

src/main/fc/settings.yaml

@@ -1934,12 +1934,6 @@ groups:
         field: fixedWingCoordinatedPitchGain
         min: 0
         max: 2
-      - name: fw_iterm_limit_stick_position
-        description: "Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. `0` mean stick is in center position, `1` means it is fully deflected to either side"
-        default_value: 0.5
-        field: fixedWingItermLimitOnStickPosition
-        min: 0
-        max: 1
       - name: fw_yaw_iterm_freeze_bank_angle
         description: "Yaw Iterm is frozen when bank angle is above this threshold [degrees]. This solves the problem of the rudder counteracting turns by partially disabling yaw stabilization when making banked turns. Setting to 0 (the default) disables this feature. Only applies when autopilot is not active and TURN ASSIST is disabled."
         default_value: 0

src/main/flight/pid.c

@@ -158,7 +158,6 @@ static EXTENDED_FASTRAM uint8_t usedPidControllerType;
 typedef void (*pidControllerFnPtr)(pidState_t *pidState, flight_dynamics_index_t axis, float dT, float dT_inv);
 static EXTENDED_FASTRAM pidControllerFnPtr pidControllerApplyFn;
 static EXTENDED_FASTRAM filterApplyFnPtr dTermLpfFilterApplyFn;
-static EXTENDED_FASTRAM bool levelingEnabled = false;
 static EXTENDED_FASTRAM bool restartAngleHoldMode = true;
 static EXTENDED_FASTRAM bool angleHoldIsLevel = false;
 
@@ -170,7 +169,7 @@ static EXTENDED_FASTRAM bool angleHoldIsLevel = false;
 static EXTENDED_FASTRAM float fixedWingLevelTrim;
 static EXTENDED_FASTRAM pidController_t fixedWingLevelTrimController;
 
-PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 6);
+PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 7);
 
 PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
         .bank_mc = {
@@ -271,7 +270,6 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
         .fixedWingReferenceAirspeed = SETTING_FW_REFERENCE_AIRSPEED_DEFAULT,
         .fixedWingCoordinatedYawGain = SETTING_FW_TURN_ASSIST_YAW_GAIN_DEFAULT,
         .fixedWingCoordinatedPitchGain = SETTING_FW_TURN_ASSIST_PITCH_GAIN_DEFAULT,
-        .fixedWingItermLimitOnStickPosition = SETTING_FW_ITERM_LIMIT_STICK_POSITION_DEFAULT,
         .fixedWingYawItermBankFreeze = SETTING_FW_YAW_ITERM_FREEZE_BANK_ANGLE_DEFAULT,
 
         .navVelXyDTermLpfHz = SETTING_NAV_MC_VEL_XY_DTERM_LPF_HZ_DEFAULT,
@@ -672,19 +670,6 @@ static void pidApplySetpointRateLimiting(pidState_t *pidState, flight_dynamics_i
     }
 }
 
-bool isFixedWingItermLimitActive(float stickPosition)
-{
-    /*
-     * Iterm anti windup whould be active only when pilot controls the rotation
-     * velocity directly, not when ANGLE or HORIZON are used
-     */
-    if (levelingEnabled) {
-        return false;
-    }
-
-    return fabsf(stickPosition) > pidProfile()->fixedWingItermLimitOnStickPosition;
-}
-
 static float pTermProcess(pidState_t *pidState, float rateError, float dT) {
     float newPTerm = rateError * pidState->kP;
 
@@ -1050,11 +1035,9 @@ static void pidApplyFpvCameraAngleMix(pidState_t *pidState, uint8_t fpvCameraAng
 
 void checkItermLimitingActive(pidState_t *pidState)
 {
-    bool shouldActivate;
-    if (usedPidControllerType == PID_TYPE_PIFF) {
-        shouldActivate = isFixedWingItermLimitActive(pidState->stickPosition);
-    } else
-    {
+    bool shouldActivate = false;
+
+    if (usedPidControllerType == PID_TYPE_PID) {
         shouldActivate = mixerIsOutputSaturated(); //just in case, since it is already managed by itermWindupPointPercent
     }
 
@@ -1184,7 +1167,6 @@ void FAST_CODE pidController(float dT)
 
     // Step 3: Run control for ANGLE_MODE, HORIZON_MODE and ANGLEHOLD_MODE
     const float horizonRateMagnitude = FLIGHT_MODE(HORIZON_MODE) ? calcHorizonRateMagnitude() : 0.0f;
-    levelingEnabled = false;
     angleHoldIsLevel = false;
 
     for (uint8_t axis = FD_ROLL; axis <= FD_PITCH; axis++) {
@@ -1204,7 +1186,6 @@ void FAST_CODE pidController(float dT)
             // Apply the Level PID controller
             pidLevel(angleTarget, &pidState[axis], axis, horizonRateMagnitude, dT);
             canUseFpvCameraMix = false;     // FPVANGLEMIX is incompatible with ANGLE/HORIZON
-            levelingEnabled = true;
         } else {
             restartAngleHoldMode = true;
         }

src/main/flight/pid.h

@@ -123,7 +123,6 @@ typedef struct pidProfile_s {
     float       fixedWingReferenceAirspeed;     // Reference tuning airspeed for the airplane - the speed for which PID gains are tuned
     float       fixedWingCoordinatedYawGain;    // This is the gain of the yaw rate required to keep the yaw rate consistent with the turn rate for a coordinated turn.
     float       fixedWingCoordinatedPitchGain;    // This is the gain of the pitch rate to keep the pitch angle constant during coordinated turns.
-    float       fixedWingItermLimitOnStickPosition;   //Do not allow Iterm to grow when stick position is above this point
     uint16_t    fixedWingYawItermBankFreeze;       // Freeze yaw Iterm when bank angle is more than this many degrees
 
     float       navVelXyDTermLpfHz;