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diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
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+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: 	@author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+
+/**
+ * @file mTecs.h
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+
+#ifndef MTECS_H_
+#define MTECS_H_
+
+#include "mTecs_blocks.h"
+#include "limitoverride.h"
+
+#include <controllib/block/BlockParam.hpp>
+#include <drivers/drv_hrt.h>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/tecs_status.h>
+
+namespace fwPosctrl
+{
+
+/* Main class of the mTecs */
+class mTecs : public control::SuperBlock
+{
+public:
+	mTecs();
+	virtual ~mTecs();
+
+	/*
+	 * Control in altitude setpoint and speed mode
+	 */
+	int updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed,
+			float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
+
+	/*
+	 * Control in flightPathAngle setpoint (flollow a slope etc.) and speed mode
+	 */
+	int updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed,
+			float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
+
+	/*
+	 * Control in flightPathAngle setpoint (flollow a slope etc.) and acceleration mode (base case)
+	 */
+	int updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeedFiltered,
+			float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride);
+
+	/*
+	 * Reset all integrators
+	 */
+	void resetIntegrators();
+
+	/*
+	 * Reset all derivative calculations
+	 */
+	void resetDerivatives(float airspeed);
+
+	/* Accessors */
+	bool getEnabled() { return _mTecsEnabled.get() > 0; }
+	float getThrottleSetpoint() { return _throttleSp; }
+	float getPitchSetpoint() { return _pitchSp; }
+	float airspeedLowpassUpdate(float input) { return _airspeedLowpass.update(input); }
+
+protected:
+	/* parameters */
+	control::BlockParamInt _mTecsEnabled;		/**< 1 if mTecs is enabled */
+	control::BlockParamFloat _airspeedMin;		/**< minimal airspeed */
+
+	/* Publications */
+	uORB::Publication<tecs_status_s> _status;	/**< publish internal values for logging */
+
+	/* control blocks */
+	BlockFFPILimitedCustom _controlTotalEnergy;		/**< FFPI controller for total energy control: output
+								  is throttle */
+	BlockFFPILimitedCustom _controlEnergyDistribution;	/**< FFPI controller for energy distribution control:
+								  output is pitch */
+	BlockPDLimited	_controlAltitude;			/**< PD controller for altitude: output is the flight
+								  path angle setpoint */
+	BlockPDLimited	_controlAirSpeed;			/**< PD controller for airspeed: output is acceleration
+								  setpoint */
+
+	/* Other calculation Blocks */
+	control::BlockLowPass _flightPathAngleLowpass;	/**< low pass filter for the flight path angle */
+	control::BlockLowPass _airspeedLowpass;		/**< low pass filter for airspeed */
+	control::BlockDerivative _airspeedDerivative;	/**< airspeed derivative calulation */
+
+	/* Output setpoints */
+	float _throttleSp;				/**< Throttle Setpoint from 0 to 1 */
+	float _pitchSp;					/**< Pitch Setpoint from -pi to pi */
+
+	/* Output Limits in special modes */
+	BlockOutputLimiter _BlockOutputLimiterTakeoffThrottle;	    /**< Throttle Limits during takeoff */
+	BlockOutputLimiter _BlockOutputLimiterTakeoffPitch;	    /**< Pitch Limit during takeoff */
+	BlockOutputLimiter _BlockOutputLimiterUnderspeedThrottle;   /**< Throttle Limits when underspeed is detected */
+	BlockOutputLimiter _BlockOutputLimiterUnderspeedPitch;	    /**< Pitch Limit when underspeed is detected */
+	BlockOutputLimiter _BlockOutputLimiterLandThrottle;	    /**< Throttle Limits during landing (only in
+								      last phase)*/
+	BlockOutputLimiter _BlockOutputLimiterLandPitch;	    /**< Pitch Limit during landing */
+
+	/* Time measurements */
+	hrt_abstime timestampLastIteration;	/**< Saves the result of hrt_absolute_time() of the last iteration */
+
+	bool _firstIterationAfterReset;		/**< True during the first iteration after a reset */
+	bool _dtCalculated;			/**< True if dt has been calculated in this iteration */
+
+	int _counter;
+	bool _debug;				///< Set true to enable debug output
+
+
+	static void	debug_print(const char *fmt, va_list args);
+	void		debug(const char *fmt, ...);
+
+	/*
+	 * Measure and update the time step dt if this was not already done in the current iteration
+	 */
+	void updateTimeMeasurement();
+};
+
+} /* namespace fwPosctrl */
+
+#endif /* MTECS_H_ */