2 files changed, 12 insertions, 14 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/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
index 4ca31fe20..58a1e9f6b 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
@@ -55,7 +55,7 @@
  * @max 1
  * @group mTECS
  */
-PARAM_DEFINE_INT32(MT_ENABLED, 1);
+PARAM_DEFINE_INT32(MT_ENABLED, 0);
 
 /**
  * Total Energy Rate Control Feedforward
@@ -241,7 +241,14 @@ PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f);
  *
  * @group mTECS
  */
-PARAM_DEFINE_FLOAT(MT_A_LP, 1.0f);
+PARAM_DEFINE_FLOAT(MT_A_LP, 0.5f);
+
+/**
+ * Airspeed derivative calculation lowpass
+ *
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_AD_LP, 0.5f);
 
 /**
  * P gain for the airspeed control
@@ -268,7 +275,7 @@ PARAM_DEFINE_FLOAT(MT_ACC_D, 0.0f);
  *
  * @group mTECS
  */
-PARAM_DEFINE_FLOAT(MT_ACC_D_LP, 1.0f);
+PARAM_DEFINE_FLOAT(MT_ACC_D_LP, 0.5f);
 
 /**
  * Minimal acceleration (air)
@@ -287,13 +294,6 @@ PARAM_DEFINE_FLOAT(MT_ACC_MIN, -40.0f);
 PARAM_DEFINE_FLOAT(MT_ACC_MAX, 40.0f);
 
 /**
- * Airspeed derivative calculation lowpass
- *
- * @group mTECS
- */
-PARAM_DEFINE_FLOAT(MT_AD_LP, 1.0f);
-
-/**
  * Minimal throttle during takeoff
  *
  * @min 0.0f