Revert "Remove all unused TECS parameters"

This reverts commit ce78b399691d43bd150c0a5928f08c98076a3892.

Conflicts:
	src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
	src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c

1 files changed, 57 insertions, 0 deletions

diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 0b111f7bd..a1bc5c24e 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -199,6 +199,19 @@ private:
 		float l1_period;
 		float l1_damping;
 
+		float time_const;
+		float min_sink_rate;
+		float max_sink_rate;
+		float max_climb_rate;
+		float throttle_damp;
+		float integrator_gain;
+		float vertical_accel_limit;
+		float height_comp_filter_omega;
+		float speed_comp_filter_omega;
+		float roll_throttle_compensation;
+		float speed_weight;
+		float pitch_damping;
+
 		float airspeed_min;
 		float airspeed_trim;
 		float airspeed_max;
@@ -226,6 +239,19 @@ private:
 		param_t l1_period;
 		param_t l1_damping;
 
+		param_t time_const;
+		param_t min_sink_rate;
+		param_t max_sink_rate;
+		param_t max_climb_rate;
+		param_t throttle_damp;
+		param_t integrator_gain;
+		param_t vertical_accel_limit;
+		param_t height_comp_filter_omega;
+		param_t speed_comp_filter_omega;
+		param_t roll_throttle_compensation;
+		param_t speed_weight;
+		param_t pitch_damping;
+
 		param_t airspeed_min;
 		param_t airspeed_trim;
 		param_t airspeed_max;
@@ -438,6 +464,21 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST");
 	_parameter_handles.range_finder_rel_alt = param_find("FW_LND_RFRALT");
 
+	_parameter_handles.time_const = 			param_find("FW_T_TIME_CONST");
+	_parameter_handles.min_sink_rate = 			param_find("FW_T_SINK_MIN");
+	_parameter_handles.max_sink_rate =			param_find("FW_T_SINK_MAX");
+	_parameter_handles.max_climb_rate =			param_find("FW_T_CLMB_MAX");
+	_parameter_handles.throttle_damp = 			param_find("FW_T_THR_DAMP");
+	_parameter_handles.integrator_gain =			param_find("FW_T_INTEG_GAIN");
+	_parameter_handles.vertical_accel_limit =		param_find("FW_T_VERT_ACC");
+	_parameter_handles.height_comp_filter_omega =		param_find("FW_T_HGT_OMEGA");
+	_parameter_handles.speed_comp_filter_omega =		param_find("FW_T_SPD_OMEGA");
+	_parameter_handles.roll_throttle_compensation = 	param_find("FW_T_RLL2THR");
+	_parameter_handles.speed_weight = 			param_find("FW_T_SPDWEIGHT");
+	_parameter_handles.pitch_damping = 			param_find("FW_T_PTCH_DAMP");
+	_parameter_handles.heightrate_p =			param_find("FW_T_HRATE_P");
+	_parameter_handles.speedrate_p =			param_find("FW_T_SRATE_P");
+
 	/* fetch initial parameter values */
 	parameters_update();
 }
@@ -488,6 +529,22 @@ FixedwingPositionControl::parameters_update()
 
 	param_get(_parameter_handles.throttle_land_max, &(_parameters.throttle_land_max));
 
+	param_get(_parameter_handles.time_const, &(_parameters.time_const));
+	param_get(_parameter_handles.min_sink_rate, &(_parameters.min_sink_rate));
+	param_get(_parameter_handles.max_sink_rate, &(_parameters.max_sink_rate));
+	param_get(_parameter_handles.throttle_damp, &(_parameters.throttle_damp));
+	param_get(_parameter_handles.integrator_gain, &(_parameters.integrator_gain));
+	param_get(_parameter_handles.vertical_accel_limit, &(_parameters.vertical_accel_limit));
+	param_get(_parameter_handles.height_comp_filter_omega, &(_parameters.height_comp_filter_omega));
+	param_get(_parameter_handles.speed_comp_filter_omega, &(_parameters.speed_comp_filter_omega));
+	param_get(_parameter_handles.roll_throttle_compensation, &(_parameters.roll_throttle_compensation));
+	param_get(_parameter_handles.speed_weight, &(_parameters.speed_weight));
+	param_get(_parameter_handles.pitch_damping, &(_parameters.pitch_damping));
+	param_get(_parameter_handles.max_climb_rate, &(_parameters.max_climb_rate));
+
+	param_get(_parameter_handles.heightrate_p, &(_parameters.heightrate_p));
+	param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p));
+
 	param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle));
 	param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt));
 	param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative));