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diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
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+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
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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.cpp
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include "mTecs.h"
+
+#include <lib/geo/geo.h>
+#include <stdio.h>
+
+namespace fwPosctrl {
+
+mTecs::mTecs() :
+	SuperBlock(NULL, "MT"),
+	/* Parameters */
+	_mTecsEnabled(this, "ENABLED"),
+	_airspeedMin(this, "FW_AIRSPD_MIN", false),
+	/* Publications */
+	_status(&getPublications(), ORB_ID(tecs_status)),
+	/* control blocks */
+	_controlTotalEnergy(this, "THR"),
+	_controlEnergyDistribution(this, "PIT", true),
+	_controlAltitude(this, "FPA", true),
+	_controlAirSpeed(this, "ACC"),
+	_flightPathAngleLowpass(this, "FPA_LP"),
+	_airspeedLowpass(this, "A_LP"),
+	_airspeedDerivative(this, "AD"),
+	_throttleSp(0.0f),
+	_pitchSp(0.0f),
+	_BlockOutputLimiterTakeoffThrottle(this, "TKF_THR"),
+	_BlockOutputLimiterTakeoffPitch(this, "TKF_PIT", true),
+	_BlockOutputLimiterUnderspeedThrottle(this, "USP_THR"),
+	_BlockOutputLimiterUnderspeedPitch(this, "USP_PIT", true),
+	_BlockOutputLimiterLandThrottle(this, "LND_THR"),
+	_BlockOutputLimiterLandPitch(this, "LND_PIT", true),
+	timestampLastIteration(hrt_absolute_time()),
+	_firstIterationAfterReset(true),
+	_dtCalculated(false),
+	_counter(0),
+	_debug(false)
+{
+}
+
+mTecs::~mTecs()
+{
+}
+
+int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed,
+		float airspeedSp, tecs_mode mode, LimitOverride limitOverride)
+{
+	/* check if all input arguments are numbers and abort if not so */
+	if (!isfinite(flightPathAngle) || !isfinite(altitude) ||
+			!isfinite(altitudeSp) || !isfinite(airspeed) || !isfinite(airspeedSp) || !isfinite(mode)) {
+		return -1;
+	}
+
+	/* time measurement */
+	updateTimeMeasurement();
+
+	/* calculate flight path angle setpoint from altitude setpoint */
+	float flightPathAngleSp = _controlAltitude.update(altitudeSp - altitude);
+
+	/* Debug output */
+	if (_counter % 10 == 0) {
+		debug("***");
+		debug("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)flightPathAngleSp);
+	}
+
+	/* Write part of the status message */
+	_status.altitudeSp = altitudeSp;
+	_status.altitude = altitude;
+
+
+	/* use flightpath angle setpoint for total energy control */
+	return updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed,
+			airspeedSp, mode, limitOverride);
+}
+
+int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed,
+		float airspeedSp, tecs_mode mode, LimitOverride limitOverride)
+{
+	/* check if all input arguments are numbers and abort if not so */
+	if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) ||
+			!isfinite(airspeed) || !isfinite(airspeedSp) || !isfinite(mode)) {
+		return -1;
+	}
+
+	/* time measurement */
+	updateTimeMeasurement();
+
+	/* Filter airspeed */
+	float airspeedFiltered = _airspeedLowpass.update(airspeed);
+
+	/* calculate longitudinal acceleration setpoint from airspeed setpoint*/
+	float accelerationLongitudinalSp = _controlAirSpeed.update(airspeedSp - airspeedFiltered);
+
+	/* Debug output */
+	if (_counter % 10 == 0) {
+		debug("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f airspeedFiltered %.4f,"
+				"accelerationLongitudinalSp%.4f",
+				(double)airspeedSp, (double)airspeed,
+				(double)airspeedFiltered, (double)accelerationLongitudinalSp);
+	}
+
+	/* Write part of the status message */
+	_status.airspeedSp = airspeedSp;
+	_status.airspeed = airspeed;
+	_status.airspeedFiltered = airspeedFiltered;
+
+
+	/* use longitudinal acceleration setpoint for total energy control */
+	return updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeedFiltered,
+			accelerationLongitudinalSp, mode, limitOverride);
+}
+
+int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeedFiltered,
+		float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride)
+{
+	/* check if all input arguments are numbers and abort if not so */
+	if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) ||
+			!isfinite(airspeedFiltered) || !isfinite(accelerationLongitudinalSp) || !isfinite(mode)) {
+		return -1;
+	}
+	/* time measurement */
+	updateTimeMeasurement();
+
+	/* update parameters first */
+	updateParams();
+
+	/* Filter flightpathangle */
+	float flightPathAngleFiltered = _flightPathAngleLowpass.update(flightPathAngle);
+
+	/* calculate values (energies) */
+	float flightPathAngleError = flightPathAngleSp - flightPathAngleFiltered;
+	float airspeedDerivative = 0.0f;
+	if(_airspeedDerivative.getDt() > 0.0f) {
+		airspeedDerivative = _airspeedDerivative.update(airspeedFiltered);
+	}
+	float airspeedDerivativeNorm = airspeedDerivative / CONSTANTS_ONE_G;
+	float airspeedDerivativeSp = accelerationLongitudinalSp;
+	float airspeedDerivativeNormSp = airspeedDerivativeSp / CONSTANTS_ONE_G;
+	float airspeedDerivativeNormError = airspeedDerivativeNormSp - airspeedDerivativeNorm;
+
+	float totalEnergyRate = flightPathAngleFiltered + airspeedDerivativeNorm;
+	float totalEnergyRateError = flightPathAngleError + airspeedDerivativeNormError;
+	float totalEnergyRateSp = flightPathAngleSp + airspeedDerivativeNormSp;
+	float totalEnergyRateError2 = totalEnergyRateSp - totalEnergyRate;
+
+	float energyDistributionRate = flightPathAngleFiltered - airspeedDerivativeNorm;
+	float energyDistributionRateError = flightPathAngleError - airspeedDerivativeNormError;
+	float energyDistributionRateSp = flightPathAngleSp - airspeedDerivativeNormSp;
+	float energyDistributionRateError2 = energyDistributionRateSp - energyDistributionRate;
+
+	/* Debug output */
+	if (_counter % 10 == 0) {
+		debug("totalEnergyRateSp %.2f, totalEnergyRate %.2f, totalEnergyRateError %.2f totalEnergyRateError2 %.2f airspeedDerivativeNorm %.4f",
+				(double)totalEnergyRateSp, (double)totalEnergyRate, (double)totalEnergyRateError, (double)totalEnergyRateError2, (double)airspeedDerivativeNorm);
+		debug("energyDistributionRateSp %.2f, energyDistributionRate %.2f, energyDistributionRateError %.2f energyDistributionRateError2 %.2f",
+				(double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2);
+	}
+
+	/* Check airspeed: if below safe value switch to underspeed mode (if not in land or takeoff mode) */
+	if (mode != TECS_MODE_LAND && mode != TECS_MODE_TAKEOFF && airspeedFiltered < _airspeedMin.get()) {
+		mode = TECS_MODE_UNDERSPEED;
+	}
+
+	/* Set special ouput limiters if we are not in TECS_MODE_NORMAL */
+	BlockOutputLimiter *outputLimiterThrottle = &_controlTotalEnergy.getOutputLimiter();
+	BlockOutputLimiter *outputLimiterPitch = &_controlEnergyDistribution.getOutputLimiter();
+	if (mode == TECS_MODE_TAKEOFF) {
+		outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle;
+		outputLimiterPitch = &_BlockOutputLimiterTakeoffPitch;
+	} else if (mode == TECS_MODE_LAND) {
+		// only limit pitch but do not limit throttle
+		outputLimiterPitch = &_BlockOutputLimiterLandPitch;
+	} else if (mode == TECS_MODE_LAND_THROTTLELIM) {
+		outputLimiterThrottle = &_BlockOutputLimiterLandThrottle;
+		outputLimiterPitch = &_BlockOutputLimiterLandPitch;
+	} else if (mode == TECS_MODE_UNDERSPEED) {
+		outputLimiterThrottle = &_BlockOutputLimiterUnderspeedThrottle;
+		outputLimiterPitch = &_BlockOutputLimiterUnderspeedPitch;
+	}
+
+	/* 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, *outputLimiterPitch);
+
+	/* Write part of the status message */
+	_status.flightPathAngleSp = flightPathAngleSp;
+	_status.flightPathAngle = flightPathAngle;
+	_status.flightPathAngleFiltered = flightPathAngleFiltered;
+	_status.airspeedDerivativeSp = airspeedDerivativeSp;
+	_status.airspeedDerivative = airspeedDerivative;
+	_status.totalEnergyRateSp = totalEnergyRateSp;
+	_status.totalEnergyRate = totalEnergyRate;
+	_status.energyDistributionRateSp = energyDistributionRateSp;
+	_status.energyDistributionRate = energyDistributionRate;
+	_status.mode = mode;
+
+	/** update control blocks **/
+	/* update total energy rate control block */
+	_throttleSp = _controlTotalEnergy.update(totalEnergyRateSp, totalEnergyRateError, outputLimiterThrottle);
+
+	/* update energy distribution rate control block */
+	_pitchSp = _controlEnergyDistribution.update(energyDistributionRateSp, energyDistributionRateError, outputLimiterPitch);
+
+
+	if (_counter % 10 == 0) {
+		debug("_throttleSp %.1f, _pitchSp %.1f, flightPathAngleSp %.1f, flightPathAngle %.1f accelerationLongitudinalSp %.1f, airspeedDerivative %.1f",
+				(double)_throttleSp, (double)_pitchSp,
+				(double)flightPathAngleSp, (double)flightPathAngle,
+				(double)accelerationLongitudinalSp, (double)airspeedDerivative);
+	}
+
+	/* publish status messge */
+	_status.update();
+
+	/* clean up */
+	_firstIterationAfterReset = false;
+	_dtCalculated = false;
+
+	_counter++;
+
+	return 0;
+}
+
+void mTecs::resetIntegrators()
+{
+	_controlTotalEnergy.getIntegral().setY(0.0f);
+	_controlEnergyDistribution.getIntegral().setY(0.0f);
+	timestampLastIteration = hrt_absolute_time();
+	_firstIterationAfterReset = true;
+}
+
+void mTecs::resetDerivatives(float airspeed)
+{
+	_airspeedDerivative.setU(airspeed);
+}
+
+
+void mTecs::updateTimeMeasurement()
+{
+	if (!_dtCalculated) {
+		float deltaTSeconds = 0.0f;
+		if (!_firstIterationAfterReset) {
+			hrt_abstime timestampNow = hrt_absolute_time();
+			deltaTSeconds = (float)(timestampNow - timestampLastIteration) * 1e-6f;
+			timestampLastIteration = timestampNow;
+		}
+		setDt(deltaTSeconds);
+
+		_dtCalculated = true;
+	}
+}
+
+void mTecs::debug_print(const char *fmt, va_list args)
+{
+	fprintf(stderr, "%s: ", "[mtecs]");
+	vfprintf(stderr, fmt, args);
+
+	fprintf(stderr, "\n");
+}
+
+void mTecs::debug(const char *fmt, ...) {
+
+	if (!_debug) {
+		return;
+	}
+
+	va_list args;
+
+	va_start(args, fmt);
+	debug_print(fmt, args);
+}
+
+} /* namespace fwPosctrl */