Remove airspeed and altitude raw data from TECS log, as we have these quantities already in the system log

4 files changed, 11 insertions, 17 deletions

diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
index 749f57a2b..bffeefc1f 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
@@ -109,8 +109,7 @@ int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alti
 
 	/* Write part of the status message */
 	_status.altitudeSp = altitudeSp;
-	_status.altitude = altitude;
-	_status.altitudeFiltered = altitudeFiltered;
+	_status.altitude_filtered = altitudeFiltered;
 
 
 	/* use flightpath angle setpoint for total energy control */
@@ -146,8 +145,7 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng
 
 	/* Write part of the status message */
 	_status.airspeedSp = airspeedSp;
-	_status.airspeed = airspeed;
-	_status.airspeedFiltered = airspeedFiltered;
+	_status.airspeed_filtered = airspeedFiltered;
 
 
 	/* use longitudinal acceleration setpoint for total energy control */
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 31861c3fc..6c4b49452 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -1597,14 +1597,12 @@ int sdlog2_thread_main(int argc, char *argv[])
 		if (copy_if_updated(ORB_ID(tecs_status), subs.tecs_status_sub, &buf.tecs_status)) {
 			log_msg.msg_type = LOG_TECS_MSG;
 			log_msg.body.log_TECS.altitudeSp = buf.tecs_status.altitudeSp;
-			log_msg.body.log_TECS.altitude = buf.tecs_status.altitude;
-			log_msg.body.log_TECS.altitudeFiltered = buf.tecs_status.altitudeFiltered;
+			log_msg.body.log_TECS.altitudeFiltered = buf.tecs_status.altitude_filtered;
 			log_msg.body.log_TECS.flightPathAngleSp = buf.tecs_status.flightPathAngleSp;
 			log_msg.body.log_TECS.flightPathAngle = buf.tecs_status.flightPathAngle;
 			log_msg.body.log_TECS.flightPathAngleFiltered = buf.tecs_status.flightPathAngleFiltered;
 			log_msg.body.log_TECS.airspeedSp = buf.tecs_status.airspeedSp;
-			log_msg.body.log_TECS.airspeed = buf.tecs_status.airspeed;
-			log_msg.body.log_TECS.airspeedFiltered = buf.tecs_status.airspeedFiltered;
+			log_msg.body.log_TECS.airspeedFiltered = buf.tecs_status.airspeed_filtered;
 			log_msg.body.log_TECS.airspeedDerivativeSp = buf.tecs_status.airspeedDerivativeSp;
 			log_msg.body.log_TECS.airspeedDerivative = buf.tecs_status.airspeedDerivative;
 			log_msg.body.log_TECS.totalEnergyRateSp = buf.tecs_status.totalEnergyRateSp;
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 853a3811f..fb7609435 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -333,13 +333,11 @@ struct log_GS1B_s {
 #define LOG_TECS_MSG 30
 struct log_TECS_s {
 	float altitudeSp;
-	float altitude;
 	float altitudeFiltered;
 	float flightPathAngleSp;
 	float flightPathAngle;
 	float flightPathAngleFiltered;
 	float airspeedSp;
-	float airspeed;
 	float airspeedFiltered;
 	float airspeedDerivativeSp;
 	float airspeedDerivative;
@@ -455,7 +453,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
 	LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
 	LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
-	LOG_FORMAT(TECS, "fffffffffffffffB",	"ASP,A,AF,FSP,F,FF,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
+	LOG_FORMAT(TECS, "fffffffffffffB",	"ASP,AF,FSP,F,FF,AsSP,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
 	LOG_FORMAT(WIND, "ffff",	"X,Y,CovX,CovY"),
 
 	/* system-level messages, ID >= 0x80 */
diff --git a/src/modules/uORB/topics/tecs_status.h b/src/modules/uORB/topics/tecs_status.h
index 33055018c..ddca19d61 100644
--- a/src/modules/uORB/topics/tecs_status.h
+++ b/src/modules/uORB/topics/tecs_status.h
@@ -51,11 +51,13 @@
  */
 
 typedef enum {
-	TECS_MODE_NORMAL,
+	TECS_MODE_NORMAL = 0,
 	TECS_MODE_UNDERSPEED,
 	TECS_MODE_TAKEOFF,
 	TECS_MODE_LAND,
-	TECS_MODE_LAND_THROTTLELIM
+	TECS_MODE_LAND_THROTTLELIM,
+	TECS_MODE_BAD_DESCENT,
+	TECS_MODE_CLIMBOUT
 } tecs_mode;
 
  /**
@@ -65,14 +67,12 @@ struct tecs_status_s {
 	uint64_t timestamp;		/**< timestamp, in microseconds since system start */
 
 	float altitudeSp;
-	float altitude;
-	float altitudeFiltered;
+	float altitude_filtered;
 	float flightPathAngleSp;
 	float flightPathAngle;
 	float flightPathAngleFiltered;
 	float airspeedSp;
-	float airspeed;
-	float airspeedFiltered;
+	float airspeed_filtered;
 	float airspeedDerivativeSp;
 	float airspeedDerivative;