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fix mc_att_control: re-add dropped acro parameters (#8293)

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and make sure the vtol params are always initialized

This got lost in 4416c4ddb3
This commit is contained in:
Beat Küng
2017-11-15 16:08:22 +01:00
committed by Daniel Agar
parent 44a71ad6c9
commit 3744cac1bb
1 changed files with 6 additions and 0 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+6
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@@ -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);