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] 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