From 1dc23d0c49d99fa93284a277a6bc4970ac0e7b3b Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 30 Jul 2014 17:41:45 +0200
Subject: Disable mTECS until runtime error is better understood

---
 .../fw_pos_control_l1/fw_pos_control_l1_main.cpp   | 56 +++++++++++-----------
 1 file changed, 28 insertions(+), 28 deletions(-)

(limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp')

diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index f0e18d1bb..2d6c5c121 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -194,7 +194,7 @@ private:
 
 	ECL_L1_Pos_Controller				_l1_control;
 	TECS						_tecs;
-	fwPosctrl::mTecs				_mTecs;
+	// fwPosctrl::mTecs				_mTecs;
 	bool						_was_pos_control_mode;
 
 	struct {
@@ -443,7 +443,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_groundspeed_undershoot(0.0f),
 	_global_pos_valid(false),
 	_l1_control(),
-	_mTecs(),
+	// _mTecs(),
 	_was_pos_control_mode(false)
 {
 	_nav_capabilities.turn_distance = 0.0f;
@@ -603,7 +603,7 @@ FixedwingPositionControl::parameters_update()
 	launchDetector.updateParams();
 
 	/* Update the mTecs */
-	_mTecs.updateParams();
+	// _mTecs.updateParams();
 
 	return OK;
 }
@@ -820,9 +820,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 	math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2);
 	math::Vector<3> accel_earth = _R_nb * accel_body;
 
-	if (!_mTecs.getEnabled()) {
+	// if (!_mTecs.getEnabled()) {
 		_tecs.update_50hz(_global_pos.alt /* XXX might switch to alt err here */, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth);
-	}
+	// }
 
 	/* define altitude error */
 	float altitude_error = _pos_sp_triplet.current.alt - _global_pos.alt;
@@ -838,10 +838,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 		if (!_was_pos_control_mode) {
 			/* reset integrators */
-			if (_mTecs.getEnabled()) {
-				_mTecs.resetIntegrators();
-				_mTecs.resetDerivatives(_airspeed.true_airspeed_m_s);
-			}
+			// if (_mTecs.getEnabled()) {
+				// _mTecs.resetIntegrators();
+				// _mTecs.resetDerivatives(_airspeed.true_airspeed_m_s);
+			// }
 		}
 
 		_was_pos_control_mode = true;
@@ -1160,9 +1160,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		_att_sp.thrust = launchDetector.getThrottlePreTakeoff();
 	}
 	else {
-		_att_sp.thrust = math::min(_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() :_tecs.get_throttle_demand(), throttle_max);
+		_att_sp.thrust = math::min(/*_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() : */_tecs.get_throttle_demand(), throttle_max);
 	}
-	_att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand();
+	_att_sp.pitch_body = /*_mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : */_tecs.get_pitch_demand();
 
 	if (_control_mode.flag_control_position_enabled) {
 		last_manual = false;
@@ -1342,29 +1342,29 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
 		const math::Vector<3> &ground_speed,
 		tecs_mode mode)
 {
-	if (_mTecs.getEnabled()) {
-		/* Using mtecs library: prepare arguments for mtecs call */
-		float flightPathAngle = 0.0f;
-		float ground_speed_length = ground_speed.length();
-		if (ground_speed_length > FLT_EPSILON) {
-			flightPathAngle = -asinf(ground_speed(2)/ground_speed_length);
-		}
-		fwPosctrl::LimitOverride limitOverride;
-		if (climbout_mode) {
-			limitOverride.enablePitchMinOverride(M_RAD_TO_DEG_F * climbout_pitch_min_rad);
-		} else {
-			limitOverride.disablePitchMinOverride();
-		}
-		_mTecs.updateAltitudeSpeed(flightPathAngle, altitude, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode,
-				limitOverride);
-	} else {
+	// if (_mTecs.getEnabled()) {
+	// 	/* Using mtecs library: prepare arguments for mtecs call */
+	// 	float flightPathAngle = 0.0f;
+	// 	float ground_speed_length = ground_speed.length();
+	// 	if (ground_speed_length > FLT_EPSILON) {
+	// 		flightPathAngle = -asinf(ground_speed(2)/ground_speed_length);
+	// 	}
+	// 	fwPosctrl::LimitOverride limitOverride;
+	// 	if (climbout_mode) {
+	// 		limitOverride.enablePitchMinOverride(M_RAD_TO_DEG_F * climbout_pitch_min_rad);
+	// 	} else {
+	// 		limitOverride.disablePitchMinOverride();
+	// 	}
+	// 	_mTecs.updateAltitudeSpeed(flightPathAngle, altitude, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode,
+	// 			limitOverride);
+	// } else {
 		/* Using tecs library */
 		_tecs.update_pitch_throttle(_R_nb, _att.pitch, altitude, alt_sp, v_sp,
 					    _airspeed.indicated_airspeed_m_s, eas2tas,
 					    climbout_mode, climbout_pitch_min_rad,
 					    throttle_min, throttle_max, throttle_cruise,
 					    pitch_min_rad, pitch_max_rad);
-	}
+	// }
 }
 
 int
-- 
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