Copter: Remove WP Delay in ZIGZAG Mode by S-Curve

[muramura]

I would remove the WP delay in ZIGZAG mode.
This delay is a shortcut support by leash.
I will remove this delay process by implementing the S-curve, which will reduce flight time.

SITL

[peterbarker]

Could we get the same effect by changing the default for this parameter?

[muramura]

https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/mode_zigzag.cpp#L407

@peterbarker, you can change the above process to the following process to support 0 delay time.
I changed to this process and confirmed that it works.
I was able to confirm that it does not shortcut.

If the delay process supports shortcuts, I would like to remove it.
If the delay processing has other purposes, I think the size of int16_t is better.

Change process:
return ((now - reach_wp_time_ms) >= (uint16_t)constrain_int16(_wp_delay, 0, 127) * 1000);

[tatsuy]

Please delete the definitions of _wp_delay and reach_wp_time_ms as well.

[rmackay9]

Great to see a parameter get removed because it simplies things a little. Thanks for this!

[rmackay9]

@muramura if you can remove those extra variables then we will merge, thanks!

[muramura]

rebase #19149