From a4e1a665833f566e2faaa80d221971c679b57d17 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 19 Jul 2014 10:52:50 +0200
Subject: [PATCH] Revert "Remove last reference to mtecs enabled param"

This reverts commit 81f60329e47f8b31d9261c0ef46c09780f9d8194.
---
 src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

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 5894aeb0b7..1fcab20697 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
@@ -756,8 +756,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 		if (!_was_pos_control_mode) {
 			/* reset integrators */
-			_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;