1 files changed, 1 insertions, 56 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
index 346acfaf3..0369640f2 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
@@ -44,6 +44,7 @@
 #define MTECS_H_
 
 #include "mTecs_blocks.h"
+#include "limitoverride.h"
 
 #include <controllib/block/BlockParam.hpp>
 #include <drivers/drv_hrt.h>
@@ -60,62 +61,6 @@ public:
 	mTecs();
 	virtual ~mTecs();
 
-	/* A small class which provides helper fucntions to override control output limits which are usually set by
-	 * parameters in special cases
-	 */
-	class LimitOverride
-	{
-	public:
-		LimitOverride() :
-			overrideThrottleMinEnabled(false),
-			overrideThrottleMaxEnabled(false),
-			overridePitchMinEnabled(false),
-			overridePitchMaxEnabled(false)
-		{};
-
-		~LimitOverride() {};
-
-		/*
-		 * Override the limits of the outputlimiter instances given by the arguments with the limits saved in
-		 * this class (if enabled)
-		 * @return true if the limit was applied
-		 */
-		bool applyOverride(BlockOutputLimiter &outputLimiterThrottle,
-				BlockOutputLimiter &outputLimiterPitch);
-
-		/* Functions to enable or disable the override */
-		void enableThrottleMinOverride(float value) { enable(&overrideThrottleMinEnabled,
-				&overrideThrottleMin, value); }
-		void disableThrottleMinOverride() { disable(&overrideThrottleMinEnabled); }
-		void enableThrottleMaxOverride(float value) { enable(&overrideThrottleMaxEnabled,
-				&overrideThrottleMax, value); }
-		void disableThrottleMaxOverride() { disable(&overrideThrottleMaxEnabled); }
-		void enablePitchMinOverride(float value) { enable(&overridePitchMinEnabled,
-				&overridePitchMin, value); }
-		void disablePitchMinOverride() { disable(&overridePitchMinEnabled); }
-		void enablePitchMaxOverride(float value) { enable(&overridePitchMaxEnabled,
-				&overridePitchMax, value); }
-		void disablePitchMaxOverride() { disable(&overridePitchMaxEnabled); }
-
-	protected:
-		bool overrideThrottleMinEnabled;
-		float overrideThrottleMin;
-		bool overrideThrottleMaxEnabled;
-		float overrideThrottleMax;
-		bool overridePitchMinEnabled;
-		float overridePitchMin; //in degrees (replaces param values)
-		bool overridePitchMaxEnabled;
-		float overridePitchMax; //in degrees (replaces param values)
-
-		/* Enable a specific limit override */
-		void enable(bool *flag, float *limit, float value) { *flag = true; *limit = value;
-		};
-		/* Disable a specific limit override */
-		void disable(bool *flag) { *flag = false; };
-
-
-	};
-
 	/*
 	 * Control in altitude setpoint and speed mode
 	 */