Only update TECS filter if auto is enabled. This forces the internal TECS logic to reset between auto runs

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -1054,8 +1054,9 @@ 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() && !_vehicle_status.condition_landed) {
-		_tecs.update_50hz(_global_pos.alt /* XXX might switch to alt err here */, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth);
+	/* update TECS filters, but only if in auto mode. */
+	if (_control_mode.flag_control_auto_enabled && (_global_pos.timestamp > 0) && !_mTecs.getEnabled() && !_vehicle_status.condition_landed) {
+		_tecs.update_50hz(_global_pos.alt, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth);
 	}
 
 	/* define altitude error */