From 3744cac1bb0d0deab7281a0a337a73aca775b111 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Wed, 15 Nov 2017 16:08:22 +0100 Subject: [PATCH] fix mc_att_control: re-add dropped acro parameters (#8293) and make sure the vtol params are always initialized This got lost in 4416c4ddb3ef84a958b023 --- src/modules/mc_att_control/mc_att_control_main.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index f649b94a19..94d7c8d954 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -450,6 +450,8 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _params_handles.acro_roll_max = param_find("MC_ACRO_R_MAX"); _params_handles.acro_pitch_max = param_find("MC_ACRO_P_MAX"); _params_handles.acro_yaw_max = param_find("MC_ACRO_Y_MAX"); + _params_handles.acro_expo = param_find("MC_ACRO_EXPO"); + _params_handles.acro_superexpo = param_find("MC_ACRO_SUPEXPO"); _params_handles.rattitude_thres = param_find("MC_RATT_TH"); @@ -602,6 +604,10 @@ MulticopterAttitudeControl::parameters_update() _params.vtol_opt_recovery_enabled = (tmp == 1); param_get(_params_handles.vtol_wv_yaw_rate_scale, &_params.vtol_wv_yaw_rate_scale); + + } else { + _params.vtol_opt_recovery_enabled = false; + _params.vtol_wv_yaw_rate_scale = 0.f; } param_get(_params_handles.bat_scale_en, &_params.bat_scale_en);