Merge remote-tracking branch 'px4/mtecs' into navigator_rewrite

1 files changed, 3 insertions, 8 deletions

diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
index 03353cbc1..48c9079a4 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
@@ -199,8 +199,8 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
 	}
 
 	/* Set special ouput limiters if we are not in TECS_MODE_NORMAL */
-	BlockOutputLimiter *outputLimiterThrottle = NULL; // NULL --> use standard inflight limits
-	BlockOutputLimiter *outputLimiterPitch = NULL; // NULL --> use standard inflight limits
+	BlockOutputLimiter *outputLimiterThrottle = &_controlTotalEnergy.getOutputLimiter();
+	BlockOutputLimiter *outputLimiterPitch = &_controlEnergyDistribution.getOutputLimiter();
 	if (mode == TECS_MODE_TAKEOFF) {
 		outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle; //XXX: accept prelaunch values from launchdetector
 		outputLimiterPitch = &_BlockOutputLimiterTakeoffPitch;
@@ -218,12 +218,7 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
 	/* Apply overrride given by the limitOverride argument (this is used for limits which are not given by
 	 * parameters such as pitch limits with takeoff waypoints or throttle limits when the launchdetector
 	 * is running) */
-	bool limitApplied = limitOverride.applyOverride(outputLimiterThrottle == NULL ?
-			_controlTotalEnergy.getOutputLimiter() :
-			*outputLimiterThrottle,
-			outputLimiterPitch == NULL ?
-			_controlEnergyDistribution.getOutputLimiter() :
-			*outputLimiterPitch);
+	bool limitApplied = limitOverride.applyOverride(*outputLimiterThrottle, *outputLimiterPitch);
 
 	/* Write part of the status message */
 	_status.airspeedDerivativeSp = airspeedDerivativeSp;