From facffe2b9eeee24f712119be91ff8aea99cfde0f Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Thu, 17 Jul 2014 17:38:04 +0200
Subject: [PATCH 01/16] mtecs: add altitude prefiltering

---
 src/modules/fw_pos_control_l1/mtecs/mTecs.cpp      | 10 ++++++++--
 src/modules/fw_pos_control_l1/mtecs/mTecs.h        |  1 +
 src/modules/fw_pos_control_l1/mtecs/mTecs_params.c |  7 +++++++
 src/modules/sdlog2/sdlog2.c                        |  1 +
 src/modules/sdlog2/sdlog2_messages.h               |  3 ++-
 src/modules/uORB/topics/tecs_status.h              |  1 +
 6 files changed, 20 insertions(+), 3 deletions(-)

diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
index 2e37d166e2..749f57a2ba 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
@@ -59,6 +59,7 @@ mTecs::mTecs() :
 	_controlAltitude(this, "FPA", true),
 	_controlAirSpeed(this, "ACC"),
 	_flightPathAngleLowpass(this, "FPA_LP"),
+	_altitudeLowpass(this, "ALT_LP"),
 	_airspeedLowpass(this, "A_LP"),
 	_airspeedDerivative(this, "AD"),
 	_throttleSp(0.0f),
@@ -93,18 +94,23 @@ int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alti
 	/* time measurement */
 	updateTimeMeasurement();
 
+	/* Filter altitude */
+	float altitudeFiltered = _altitudeLowpass.update(altitude);
+
+
 	/* calculate flight path angle setpoint from altitude setpoint */
-	float flightPathAngleSp = _controlAltitude.update(altitudeSp - altitude);
+	float flightPathAngleSp = _controlAltitude.update(altitudeSp - altitudeFiltered);
 
 	/* Debug output */
 	if (_counter % 10 == 0) {
 		debug("***");
-		debug("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)flightPathAngleSp);
+		debug("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, altitude filtered %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)altitudeFiltered, (double)flightPathAngleSp);
 	}
 
 	/* Write part of the status message */
 	_status.altitudeSp = altitudeSp;
 	_status.altitude = altitude;
+	_status.altitudeFiltered = altitudeFiltered;
 
 
 	/* use flightpath angle setpoint for total energy control */
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
index efa89a5d3d..ae6867d382 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
@@ -115,6 +115,7 @@ protected:
 
 	/* Other calculation Blocks */
 	control::BlockLowPass _flightPathAngleLowpass;	/**< low pass filter for the flight path angle */
+	control::BlockLowPass _altitudeLowpass;	/**< low pass filter for altitude */
 	control::BlockLowPass _airspeedLowpass;		/**< low pass filter for airspeed */
 	control::BlockDerivative _airspeedDerivative;	/**< airspeed derivative calulation */
 
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 5b92387807..4ca31fe201 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
@@ -174,6 +174,13 @@ PARAM_DEFINE_FLOAT(MT_PIT_MIN, -45.0f);
  */
 PARAM_DEFINE_FLOAT(MT_PIT_MAX, 20.0f);
 
+/**
+ * Lowpass (cutoff freq.) for altitude
+ *
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_ALT_LP, 1.0f);
+
 /**
  * Lowpass (cutoff freq.) for the flight path angle
  *
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index f534c0f4ce..e0a3e7603b 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -1595,6 +1595,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.msg_type = LOG_TECS_MSG;
 			log_msg.body.log_TECS.altitudeSp = buf.tecs_status.altitudeSp;
 			log_msg.body.log_TECS.altitude = buf.tecs_status.altitude;
+			log_msg.body.log_TECS.altitudeFiltered = buf.tecs_status.altitudeFiltered;
 			log_msg.body.log_TECS.flightPathAngleSp = buf.tecs_status.flightPathAngleSp;
 			log_msg.body.log_TECS.flightPathAngle = buf.tecs_status.flightPathAngle;
 			log_msg.body.log_TECS.flightPathAngleFiltered = buf.tecs_status.flightPathAngleFiltered;
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index b14ef04ccf..853a3811f6 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -334,6 +334,7 @@ struct log_GS1B_s {
 struct log_TECS_s {
 	float altitudeSp;
 	float altitude;
+	float altitudeFiltered;
 	float flightPathAngleSp;
 	float flightPathAngle;
 	float flightPathAngleFiltered;
@@ -454,7 +455,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
 	LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
 	LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
-	LOG_FORMAT(TECS, "ffffffffffffffB",	"AltSP,Alt,FSP,F,FF,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
+	LOG_FORMAT(TECS, "fffffffffffffffB",	"ASP,A,AF,FSP,F,FF,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
 	LOG_FORMAT(WIND, "ffff",	"X,Y,CovX,CovY"),
 
 	/* system-level messages, ID >= 0x80 */
diff --git a/src/modules/uORB/topics/tecs_status.h b/src/modules/uORB/topics/tecs_status.h
index c4d0c18749..33055018ce 100644
--- a/src/modules/uORB/topics/tecs_status.h
+++ b/src/modules/uORB/topics/tecs_status.h
@@ -66,6 +66,7 @@ struct tecs_status_s {
 
 	float altitudeSp;
 	float altitude;
+	float altitudeFiltered;
 	float flightPathAngleSp;
 	float flightPathAngle;
 	float flightPathAngleFiltered;

From c01567c047f295e3ffea7d01a7e239ac4f79a498 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 17 Jul 2014 21:02:17 +0200
Subject: [PATCH 02/16] Check if waypoint altitude is relative. Fixes #1197

---
 src/modules/navigator/mission_feasibility_checker.cpp | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index dd7f4c8013..d45488d5a3 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -135,12 +135,15 @@ bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current,
 			}
 		}
 
-		if (home_alt > missionitem.altitude) {
+		/* calculate the global waypoint altitude */
+		float wp_alt = (missionitem.altitude_is_relative) ? missionitem.altitude + home_alt ? missionitem.altitude;
+
+		if (home_alt > wp_alt) {
 			if (throw_error) {
-				mavlink_log_info(_mavlink_fd, "Waypoint %d below home", i);
+				mavlink_log_critical(_mavlink_fd, "Warning: Waypoint %d below home", i);
 				return false;
 			} else	{
-				mavlink_log_info(_mavlink_fd, "#audio: warning waypoint %d below home", i);
+				mavlink_log_critical(_mavlink_fd, "Rejecting Mission: Waypoint %d below home", i);
 				return true;
 			}
 		}

From 101e7b1383b83c9b06ef147dbef1ff375c11b84f Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 17 Jul 2014 21:06:42 +0200
Subject: [PATCH 03/16] navigator: Feedback strings / text and logic was not
 consistent in previous state, fixed.

---
 src/modules/navigator/mission_feasibility_checker.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index d45488d5a3..606521f200 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -136,14 +136,14 @@ bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current,
 		}
 
 		/* calculate the global waypoint altitude */
-		float wp_alt = (missionitem.altitude_is_relative) ? missionitem.altitude + home_alt ? missionitem.altitude;
+		float wp_alt = (missionitem.altitude_is_relative) ? missionitem.altitude + home_alt : missionitem.altitude;
 
 		if (home_alt > wp_alt) {
 			if (throw_error) {
-				mavlink_log_critical(_mavlink_fd, "Warning: Waypoint %d below home", i);
+				mavlink_log_critical(_mavlink_fd, "Rejecting Mission: Waypoint %d below home", i);
 				return false;
 			} else	{
-				mavlink_log_critical(_mavlink_fd, "Rejecting Mission: Waypoint %d below home", i);
+				mavlink_log_critical(_mavlink_fd, "Warning: Waypoint %d below home", i);
 				return true;
 			}
 		}

From 9559668f0fb7477e2f777beff899589a387d26c5 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 17 Jul 2014 23:25:12 +0200
Subject: [PATCH 04/16] uORB: Add navigation state

---
 src/modules/uORB/topics/position_setpoint_triplet.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h
index 673c0e4919..4a19321809 100644
--- a/src/modules/uORB/topics/position_setpoint_triplet.h
+++ b/src/modules/uORB/topics/position_setpoint_triplet.h
@@ -95,6 +95,8 @@ struct position_setpoint_triplet_s
 	struct position_setpoint_s previous;
 	struct position_setpoint_s current;
 	struct position_setpoint_s next;
+
+	unsigned nav_state;				/**< report the navigation state */
 };
 
 /**

From b8da27561613a0890fd21e43064b457a58daaab3 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 17 Jul 2014 23:25:33 +0200
Subject: [PATCH 05/16] Log nav mode

---
 src/modules/sdlog2/sdlog2.c | 25 ++++++++++++++-----------
 1 file changed, 14 insertions(+), 11 deletions(-)

diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index f534c0f4ce..e078b47d63 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -1432,17 +1432,20 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 		/* --- GLOBAL POSITION SETPOINT --- */
 		if (copy_if_updated(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet)) {
-			log_msg.msg_type = LOG_GPSP_MSG;
-			log_msg.body.log_GPSP.nav_state = 0;  /* TODO: Fix this */
-			log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
-			log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
-			log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
-			log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
-			log_msg.body.log_GPSP.type = buf.triplet.current.type;
-			log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
-			log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
-			log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
-			LOGBUFFER_WRITE_AND_COUNT(GPSP);
+
+			if (buf.triplet.current.valid) {
+				log_msg.msg_type = LOG_GPSP_MSG;
+				log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state;
+				log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
+				log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
+				log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
+				log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
+				log_msg.body.log_GPSP.type = buf.triplet.current.type;
+				log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
+				log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
+				log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
+				LOGBUFFER_WRITE_AND_COUNT(GPSP);
+			}
 		}
 
 		/* --- VICON POSITION --- */

From ba7df4c170e069812387e08445cfa0e7789bf34d Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 17 Jul 2014 23:26:04 +0200
Subject: [PATCH 06/16] Enable nav mode logging in navigator

---
 src/modules/navigator/navigator_main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 93cbfd7b1e..331a9a728f 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -458,7 +458,7 @@ void
 Navigator::publish_position_setpoint_triplet()
 {
 	/* update navigation state */
-	/* TODO: set nav_state */
+	_pos_sp_triplet.nav_state = _vstatus.nav_state;
 
 	/* lazily publish the position setpoint triplet only once available */
 	if (_pos_sp_triplet_pub > 0) {

From dc612d75c788bc8b2a90c200a13a5a5a0e3a68d9 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Fri, 18 Jul 2014 00:15:16 +0200
Subject: [PATCH 07/16] BlockDerivative: initialize in first run

---
 src/modules/controllib/blocks.cpp | 7 ++++++-
 src/modules/controllib/blocks.hpp | 2 ++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/src/modules/controllib/blocks.cpp b/src/modules/controllib/blocks.cpp
index c6c374300e..04cb023a8d 100644
--- a/src/modules/controllib/blocks.cpp
+++ b/src/modules/controllib/blocks.cpp
@@ -293,7 +293,12 @@ int blockIntegralTrapTest()
 
 float BlockDerivative::update(float input)
 {
-	float output = _lowPass.update((input - getU()) / getDt());
+	float output = 0.0f;
+	if (_initialized) {
+		output = _lowPass.update((input - getU()) / getDt());
+	} else {
+		_initialized = true;
+	}
 	setU(input);
 	return output;
 }
diff --git a/src/modules/controllib/blocks.hpp b/src/modules/controllib/blocks.hpp
index 66e9290381..b0545b60a5 100644
--- a/src/modules/controllib/blocks.hpp
+++ b/src/modules/controllib/blocks.hpp
@@ -238,6 +238,7 @@ public:
 	BlockDerivative(SuperBlock *parent, const char *name) :
 		SuperBlock(parent, name),
 		_u(0),
+		_initialized(false),
 		_lowPass(this, "LP")
 	{};
 	virtual ~BlockDerivative() {};
@@ -249,6 +250,7 @@ public:
 protected:
 // attributes
 	float _u; /**< previous input */
+	bool _initialized;
 	BlockLowPass _lowPass; /**< low pass filter */
 };
 

From 6c50e510a5fcadab19a6d5ff709c0da473e4ace0 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 18 Jul 2014 07:28:49 +0200
Subject: [PATCH 08/16] Derivative fix: Comments and code style

---
 src/modules/controllib/blocks.cpp |  8 +++++++-
 src/modules/controllib/blocks.hpp | 15 +++++++++++++++
 2 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/src/modules/controllib/blocks.cpp b/src/modules/controllib/blocks.cpp
index 04cb023a8d..0175acda99 100644
--- a/src/modules/controllib/blocks.cpp
+++ b/src/modules/controllib/blocks.cpp
@@ -293,10 +293,16 @@ int blockIntegralTrapTest()
 
 float BlockDerivative::update(float input)
 {
-	float output = 0.0f;
+	float output;
 	if (_initialized) {
 		output = _lowPass.update((input - getU()) / getDt());
 	} else {
+		// if this is the first call to update
+		// we have no valid derivative
+		// and so we use the assumption the
+		// input value is not changing much,
+		// which is the best we can do here.
+		output = 0.0f;
 		_initialized = true;
 	}
 	setU(input);
diff --git a/src/modules/controllib/blocks.hpp b/src/modules/controllib/blocks.hpp
index b0545b60a5..37d7832b33 100644
--- a/src/modules/controllib/blocks.hpp
+++ b/src/modules/controllib/blocks.hpp
@@ -242,6 +242,21 @@ public:
 		_lowPass(this, "LP")
 	{};
 	virtual ~BlockDerivative() {};
+
+	/**
+	 * Update the state and get current derivative
+	 *
+	 * This call updates the state and gets the current
+	 * derivative. As the derivative is only valid
+	 * on the second call to update, it will return
+	 * no change (0) on the first. To get a closer
+	 * estimate of the derivative on the first call,
+	 * call setU() one time step before using the
+	 * return value of update().
+	 *
+	 * @param input the variable to calculate the derivative of
+	 * @return the current derivative
+	 */
 	float update(float input);
 // accessors
 	void setU(float u) {_u = u;}

From ce78b399691d43bd150c0a5928f08c98076a3892 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 18 Jul 2014 07:49:29 +0200
Subject: [PATCH 09/16] Remove all unused TECS parameters

---
 .../fw_pos_control_l1_main.cpp                |  54 ------
 .../fw_pos_control_l1_params.c                | 169 ------------------
 2 files changed, 223 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 6c251c2375..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
@@ -199,19 +199,6 @@ private:
 		float l1_period;
 		float l1_damping;
 
-		float time_const;
-		float min_sink_rate;
-		float max_sink_rate;
-		float max_climb_rate;
-		float throttle_damp;
-		float integrator_gain;
-		float vertical_accel_limit;
-		float height_comp_filter_omega;
-		float speed_comp_filter_omega;
-		float roll_throttle_compensation;
-		float speed_weight;
-		float pitch_damping;
-
 		float airspeed_min;
 		float airspeed_trim;
 		float airspeed_max;
@@ -242,19 +229,6 @@ private:
 		param_t l1_period;
 		param_t l1_damping;
 
-		param_t time_const;
-		param_t min_sink_rate;
-		param_t max_sink_rate;
-		param_t max_climb_rate;
-		param_t throttle_damp;
-		param_t integrator_gain;
-		param_t vertical_accel_limit;
-		param_t height_comp_filter_omega;
-		param_t speed_comp_filter_omega;
-		param_t roll_throttle_compensation;
-		param_t speed_weight;
-		param_t pitch_damping;
-
 		param_t airspeed_min;
 		param_t airspeed_trim;
 		param_t airspeed_max;
@@ -470,21 +444,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST");
 	_parameter_handles.range_finder_rel_alt = param_find("FW_LND_RFRALT");
 
-	_parameter_handles.time_const = 			param_find("FW_T_TIME_CONST");
-	_parameter_handles.min_sink_rate = 			param_find("FW_T_SINK_MIN");
-	_parameter_handles.max_sink_rate =			param_find("FW_T_SINK_MAX");
-	_parameter_handles.max_climb_rate =			param_find("FW_T_CLMB_MAX");
-	_parameter_handles.throttle_damp = 			param_find("FW_T_THR_DAMP");
-	_parameter_handles.integrator_gain =			param_find("FW_T_INTEG_GAIN");
-	_parameter_handles.vertical_accel_limit =		param_find("FW_T_VERT_ACC");
-	_parameter_handles.height_comp_filter_omega =		param_find("FW_T_HGT_OMEGA");
-	_parameter_handles.speed_comp_filter_omega =		param_find("FW_T_SPD_OMEGA");
-	_parameter_handles.roll_throttle_compensation = 	param_find("FW_T_RLL2THR");
-	_parameter_handles.speed_weight = 			param_find("FW_T_SPDWEIGHT");
-	_parameter_handles.pitch_damping = 			param_find("FW_T_PTCH_DAMP");
-	_parameter_handles.heightrate_p =			param_find("FW_T_HRATE_P");
-	_parameter_handles.speedrate_p =			param_find("FW_T_SRATE_P");
-
 	/* fetch initial parameter values */
 	parameters_update();
 }
@@ -535,19 +494,6 @@ FixedwingPositionControl::parameters_update()
 
 	param_get(_parameter_handles.throttle_land_max, &(_parameters.throttle_land_max));
 
-	param_get(_parameter_handles.time_const, &(_parameters.time_const));
-	param_get(_parameter_handles.min_sink_rate, &(_parameters.min_sink_rate));
-	param_get(_parameter_handles.max_sink_rate, &(_parameters.max_sink_rate));
-	param_get(_parameter_handles.throttle_damp, &(_parameters.throttle_damp));
-	param_get(_parameter_handles.integrator_gain, &(_parameters.integrator_gain));
-	param_get(_parameter_handles.vertical_accel_limit, &(_parameters.vertical_accel_limit));
-	param_get(_parameter_handles.height_comp_filter_omega, &(_parameters.height_comp_filter_omega));
-	param_get(_parameter_handles.speed_comp_filter_omega, &(_parameters.speed_comp_filter_omega));
-	param_get(_parameter_handles.roll_throttle_compensation, &(_parameters.roll_throttle_compensation));
-	param_get(_parameter_handles.speed_weight, &(_parameters.speed_weight));
-	param_get(_parameter_handles.pitch_damping, &(_parameters.pitch_damping));
-	param_get(_parameter_handles.max_climb_rate, &(_parameters.max_climb_rate));
-
 	param_get(_parameter_handles.heightrate_p, &(_parameters.heightrate_p));
 	param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p));
 
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index 52128e1b7a..35b1f2ca96 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -154,175 +154,6 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
  */
 PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
 
-/**
- * Maximum climb rate
- *
- * This is the best climb rate that the aircraft can achieve with 
- * the throttle set to THR_MAX and the airspeed set to the 
- * default value. For electric aircraft make sure this number can be 
- * achieved towards the end of flight when the battery voltage has reduced. 
- * The setting of this parameter can be checked by commanding a positive 
- * altitude change of 100m in loiter, RTL or guided mode. If the throttle 
- * required to climb is close to THR_MAX and the aircraft is maintaining 
- * airspeed, then this parameter is set correctly. If the airspeed starts 
- * to reduce, then the parameter is set to high, and if the throttle 
- * demand required to climb and maintain speed is noticeably less than 
- * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or 
- * FW_THR_MAX reduced.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
-
-/**
- * Minimum descent rate
- *
- * This is the sink rate of the aircraft with the throttle 
- * set to THR_MIN and flown at the same airspeed as used 
- * to measure FW_T_CLMB_MAX.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
-
-/**
- * Maximum descent rate
- *
- * This sets the maximum descent rate that the controller will use. 
- * If this value is too large, the aircraft can over-speed on descent. 
- * This should be set to a value that can be achieved without 
- * exceeding the lower pitch angle limit and without over-speeding 
- * the aircraft.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
-
-/**
- * TECS time constant
- *
- * This is the time constant of the TECS control algorithm (in seconds). 
- * Smaller values make it faster to respond, larger values make it slower
- * to respond.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f);
-
-/**
- * Throttle damping factor
- *
- * This is the damping gain for the throttle demand loop. 
- * Increase to add damping to correct for oscillations in speed and height.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
-
-/**
- * Integrator gain
- *
- * This is the integrator gain on the control loop. 
- * Increasing this gain increases the speed at which speed 
- * and height offsets are trimmed out, but reduces damping and 
- * increases overshoot.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
-
-/**
- * Maximum vertical acceleration
- *
- * This is the maximum vertical acceleration (in metres/second square)
- * either up or down that the controller will use to correct speed 
- * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) 
- * allows for reasonably aggressive pitch changes if required to recover 
- * from under-speed conditions.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
-
-/**
- * Complementary filter "omega" parameter for height
- *
- * This is the cross-over frequency (in radians/second) of the complementary 
- * filter used to fuse vertical acceleration and barometric height to obtain 
- * an estimate of height rate and height. Increasing this frequency weights 
- * the solution more towards use of the barometer, whilst reducing it weights 
- * the solution more towards use of the accelerometer data.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
-
-/**
- * Complementary filter "omega" parameter for speed
- *
- * This is the cross-over frequency (in radians/second) of the complementary 
- * filter used to fuse longitudinal acceleration and airspeed to obtain an 
- * improved airspeed estimate. Increasing this frequency weights the solution
- * more towards use of the arispeed sensor, whilst reducing it weights the 
- * solution more towards use of the accelerometer data.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
-
-/**
- * Roll -> Throttle feedforward
- *
- * Increasing this gain turn increases the amount of throttle that will 
- * be used to compensate for the additional drag created by turning. 
- * Ideally this should be set to  approximately 10 x the extra sink rate 
- * in m/s created by a 45 degree bank turn. Increase this gain if 
- * the aircraft initially loses energy in turns and reduce if the 
- * aircraft initially gains energy in turns. Efficient high aspect-ratio 
- * aircraft (eg powered sailplanes) can use a lower value, whereas 
- * inefficient low aspect-ratio models (eg delta wings) can use a higher value.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f);
-
-/**
- * Speed <--> Altitude priority
- *
- * This parameter adjusts the amount of weighting that the pitch control 
- * applies to speed vs height errors. Setting it to 0.0 will cause the 
- * pitch control to control height and ignore speed errors. This will 
- * normally improve height accuracy but give larger airspeed errors. 
- * Setting it to 2.0 will cause the pitch control loop to control speed 
- * and ignore height errors. This will normally reduce airspeed errors, 
- * but give larger height errors. The default value of 1.0 allows the pitch 
- * control to simultaneously control height and speed. 
- * Note to Glider Pilots - set this parameter to 2.0 (The glider will 
- * adjust its pitch angle to maintain airspeed, ignoring changes in height).
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
-
-/**
- * Pitch damping factor
- *
- * This is the damping gain for the pitch demand loop. Increase to add 
- * damping to correct for oscillations in height. The default value of 0.0 
- * will work well provided the pitch to servo controller has been tuned 
- * properly.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
-
-/**
- * Height rate P factor
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
-
 /**
  * Speed rate P factor
  *

From 4a8e4d37cd926bed7b85ba92a5214f604a4ea192 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 18 Jul 2014 07:55:02 +0200
Subject: [PATCH 10/16] Remove one left-over TECS param

---
 src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index 35b1f2ca96..27039ff51f 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -154,13 +154,6 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
  */
 PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
 
-/**
- * Speed rate P factor
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f);
-
 /**
  * Landing slope angle
  *

From f7c330fa6073eaff7d1d7073b16a51e40f8b5f9d Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 18 Jul 2014 07:58:59 +0200
Subject: [PATCH 11/16] Remove all handles to TECS params in startup scripts

---
 ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil | 9 ---------
 ROMFS/px4fmu_common/init.d/3031_phantom           | 4 ----
 ROMFS/px4fmu_common/init.d/3032_skywalker_x5      | 4 ----
 ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha    | 4 ----
 4 files changed, 21 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
index c753ded233..941f5664ad 100644
--- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
+++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
@@ -26,15 +26,6 @@ then
 	param set FW_RR_P 0.1
 	param set FW_R_LIM 45
 	param set FW_R_RMAX 0
-	param set FW_T_CLMB_MAX 5
-	param set FW_T_HRATE_P 0.02
-	param set FW_T_PTCH_DAMP 0
-	param set FW_T_RLL2THR 15
-	param set FW_T_SINK_MAX 5
-	param set FW_T_SINK_MIN 2
-	param set FW_T_SRATE_P 0.01
-	param set FW_T_TIME_CONST 3
-	param set FW_T_VERT_ACC 7
 	param set FW_YR_FF 0.0
 	param set FW_YR_I 0
 	param set FW_YR_IMAX 0.2
diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom
index 654b0bdab1..31dfe71007 100644
--- a/ROMFS/px4fmu_common/init.d/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/3031_phantom
@@ -30,10 +30,6 @@ then
 	param set FW_RR_P 0.08
 	param set FW_R_LIM 50
 	param set FW_R_RMAX 0
-	param set FW_T_HRATE_P 0.01
-	param set FW_T_RLL2THR 15
-	param set FW_T_SRATE_P 0.01
-	param set FW_T_TIME_CONST 5
 fi
 
 set MIXER phantom
diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
index 465166f253..7d0dc5bff3 100644
--- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
@@ -30,10 +30,6 @@ then
 	param set FW_RR_P 0.03
 	param set FW_R_LIM 60
 	param set FW_R_RMAX 0
-	param set FW_T_HRATE_P 0.01
-	param set FW_T_RLL2THR 15
-	param set FW_T_SRATE_P 0.01
-	param set FW_T_TIME_CONST 5
 fi
 
 set MIXER FMU_X5
diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
index 7dbda54d3a..9a21504035 100644
--- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
@@ -33,10 +33,6 @@ then
 	param set FW_RR_P 0.03
 	param set FW_R_LIM 60
 	param set FW_R_RMAX 0
-	param set FW_T_HRATE_P 0.01
-	param set FW_T_RLL2THR 15
-	param set FW_T_SRATE_P 0.01
-	param set FW_T_TIME_CONST 5
 fi
 
 set MIXER FMU_Q

From 90a5ae1afd25e5e31d269f0d0f5e5052f068d0b1 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 18 Jul 2014 08:04:13 +0200
Subject: [PATCH 12/16] Remove MT_ENABLED param and handles

---
 src/modules/fw_pos_control_l1/mtecs/mTecs.cpp      |  1 -
 src/modules/fw_pos_control_l1/mtecs/mTecs.h        |  2 --
 src/modules/fw_pos_control_l1/mtecs/mTecs_params.c | 11 -----------
 3 files changed, 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 749f57a2ba..8f0e57e208 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
@@ -49,7 +49,6 @@ namespace fwPosctrl {
 mTecs::mTecs() :
 	SuperBlock(NULL, "MT"),
 	/* Parameters */
-	_mTecsEnabled(this, "ENABLED"),
 	_airspeedMin(this, "FW_AIRSPD_MIN", false),
 	/* Publications */
 	_status(&getPublications(), ORB_ID(tecs_status)),
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
index ae6867d382..99830fba6a 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
@@ -90,14 +90,12 @@ public:
 	void resetDerivatives(float airspeed);
 
 	/* Accessors */
-	bool getEnabled() { return _mTecsEnabled.get() > 0; }
 	float getThrottleSetpoint() { return _throttleSp; }
 	float getPitchSetpoint() { return _pitchSp; }
 	float airspeedLowpassUpdate(float input) { return _airspeedLowpass.update(input); }
 
 protected:
 	/* parameters */
-	control::BlockParamInt _mTecsEnabled;		/**< 1 if mTecs is enabled */
 	control::BlockParamFloat _airspeedMin;		/**< minimal airspeed */
 
 	/* Publications */
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 4ca31fe201..6e9e1d88e0 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
@@ -46,17 +46,6 @@
  * Controller parameters, accessible via MAVLink
  */
 
-/**
- * mTECS enabled
- *
- * Set to 1 to enable mTECS
- *
- * @min 0
- * @max 1
- * @group mTECS
- */
-PARAM_DEFINE_INT32(MT_ENABLED, 1);
-
 /**
  * Total Energy Rate Control Feedforward
  * Maps the total energy rate setpoint to the throttle setpoint

From 81f60329e47f8b31d9261c0ef46c09780f9d8194 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 18 Jul 2014 08:07:35 +0200
Subject: [PATCH 13/16] Remove last reference to mtecs enabled param

---
 src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 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 1fcab20697..5894aeb0b7 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
@@ -756,10 +756,8 @@ 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);
-			}
+			_mTecs.resetIntegrators();
+			_mTecs.resetDerivatives(_airspeed.true_airspeed_m_s);
 		}
 
 		_was_pos_control_mode = true;

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 14/16] 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;

From 57794925fe0fcaf5736163f8ad43a4551a1a9b71 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 19 Jul 2014 10:53:04 +0200
Subject: [PATCH 15/16] Revert "Remove MT_ENABLED param and handles"

This reverts commit 90a5ae1afd25e5e31d269f0d0f5e5052f068d0b1.
---
 src/modules/fw_pos_control_l1/mtecs/mTecs.cpp      |  1 +
 src/modules/fw_pos_control_l1/mtecs/mTecs.h        |  2 ++
 src/modules/fw_pos_control_l1/mtecs/mTecs_params.c | 11 +++++++++++
 3 files changed, 14 insertions(+)

diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
index 8f0e57e208..749f57a2ba 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
@@ -49,6 +49,7 @@ namespace fwPosctrl {
 mTecs::mTecs() :
 	SuperBlock(NULL, "MT"),
 	/* Parameters */
+	_mTecsEnabled(this, "ENABLED"),
 	_airspeedMin(this, "FW_AIRSPD_MIN", false),
 	/* Publications */
 	_status(&getPublications(), ORB_ID(tecs_status)),
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
index 99830fba6a..ae6867d382 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
@@ -90,12 +90,14 @@ public:
 	void resetDerivatives(float airspeed);
 
 	/* Accessors */
+	bool getEnabled() { return _mTecsEnabled.get() > 0; }
 	float getThrottleSetpoint() { return _throttleSp; }
 	float getPitchSetpoint() { return _pitchSp; }
 	float airspeedLowpassUpdate(float input) { return _airspeedLowpass.update(input); }
 
 protected:
 	/* parameters */
+	control::BlockParamInt _mTecsEnabled;		/**< 1 if mTecs is enabled */
 	control::BlockParamFloat _airspeedMin;		/**< minimal airspeed */
 
 	/* Publications */
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 6e9e1d88e0..4ca31fe201 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
@@ -46,6 +46,17 @@
  * Controller parameters, accessible via MAVLink
  */
 
+/**
+ * mTECS enabled
+ *
+ * Set to 1 to enable mTECS
+ *
+ * @min 0
+ * @max 1
+ * @group mTECS
+ */
+PARAM_DEFINE_INT32(MT_ENABLED, 1);
+
 /**
  * Total Energy Rate Control Feedforward
  * Maps the total energy rate setpoint to the throttle setpoint

From 322089a390f416a9936fb4ad1ad0ed4359aeaa57 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 19 Jul 2014 11:29:49 +0200
Subject: [PATCH 16/16] Fix unused params

---
 src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 9 ---------
 1 file changed, 9 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 1fcab20697..0b111f7bd3 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
@@ -212,9 +212,6 @@ private:
 
 		float throttle_land_max;
 
-		float heightrate_p;
-		float speedrate_p;
-
 		float land_slope_angle;
 		float land_H1_virt;
 		float land_flare_alt_relative;
@@ -242,9 +239,6 @@ private:
 
 		param_t throttle_land_max;
 
-		param_t heightrate_p;
-		param_t speedrate_p;
-
 		param_t land_slope_angle;
 		param_t land_H1_virt;
 		param_t land_flare_alt_relative;
@@ -494,9 +488,6 @@ FixedwingPositionControl::parameters_update()
 
 	param_get(_parameter_handles.throttle_land_max, &(_parameters.throttle_land_max));
 
-	param_get(_parameter_handles.heightrate_p, &(_parameters.heightrate_p));
-	param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p));
-
 	param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle));
 	param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt));
 	param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative));