mc att: use PX4 macros to init and get params

2 files changed, 61 insertions, 61 deletions

diff --git a/src/modules/mc_att_control/mc_att_control.cpp b/src/modules/mc_att_control/mc_att_control.cpp
index 002812741..d20bf24e1 100644
--- a/src/modules/mc_att_control/mc_att_control.cpp
+++ b/src/modules/mc_att_control/mc_att_control.cpp
@@ -83,26 +83,26 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
 
 {
-	_params_handles.roll_p			= 	param_find("MC_ROLL_P");
-	_params_handles.roll_rate_p		= 	param_find("MC_ROLLRATE_P");
-	_params_handles.roll_rate_i		= 	param_find("MC_ROLLRATE_I");
-	_params_handles.roll_rate_d		= 	param_find("MC_ROLLRATE_D");
-	_params_handles.pitch_p			= 	param_find("MC_PITCH_P");
-	_params_handles.pitch_rate_p	= 	param_find("MC_PITCHRATE_P");
-	_params_handles.pitch_rate_i	= 	param_find("MC_PITCHRATE_I");
-	_params_handles.pitch_rate_d	= 	param_find("MC_PITCHRATE_D");
-	_params_handles.yaw_p			=	param_find("MC_YAW_P");
-	_params_handles.yaw_rate_p		= 	param_find("MC_YAWRATE_P");
-	_params_handles.yaw_rate_i		= 	param_find("MC_YAWRATE_I");
-	_params_handles.yaw_rate_d		= 	param_find("MC_YAWRATE_D");
-	_params_handles.yaw_ff			= 	param_find("MC_YAW_FF");
-	_params_handles.yaw_rate_max	= 	param_find("MC_YAWRATE_MAX");
-	_params_handles.man_roll_max	= 	param_find("MC_MAN_R_MAX");
-	_params_handles.man_pitch_max	= 	param_find("MC_MAN_P_MAX");
-	_params_handles.man_yaw_max		= 	param_find("MC_MAN_Y_MAX");
-	_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.roll_p			= 	PX4_PARAM_INIT("MC_ROLL_P");
+	_params_handles.roll_rate_p		= 	PX4_PARAM_INIT("MC_ROLLRATE_P");
+	_params_handles.roll_rate_i		= 	PX4_PARAM_INIT("MC_ROLLRATE_I");
+	_params_handles.roll_rate_d		= 	PX4_PARAM_INIT("MC_ROLLRATE_D");
+	_params_handles.pitch_p			= 	PX4_PARAM_INIT("MC_PITCH_P");
+	_params_handles.pitch_rate_p		= 	PX4_PARAM_INIT("MC_PITCHRATE_P");
+	_params_handles.pitch_rate_i		= 	PX4_PARAM_INIT("MC_PITCHRATE_I");
+	_params_handles.pitch_rate_d		= 	PX4_PARAM_INIT("MC_PITCHRATE_D");
+	_params_handles.yaw_p			=	PX4_PARAM_INIT("MC_YAW_P");
+	_params_handles.yaw_rate_p		= 	PX4_PARAM_INIT("MC_YAWRATE_P");
+	_params_handles.yaw_rate_i		= 	PX4_PARAM_INIT("MC_YAWRATE_I");
+	_params_handles.yaw_rate_d		= 	PX4_PARAM_INIT("MC_YAWRATE_D");
+	_params_handles.yaw_ff			= 	PX4_PARAM_INIT("MC_YAW_FF");
+	_params_handles.yaw_rate_max		= 	PX4_PARAM_INIT("MC_YAWRATE_MAX");
+	_params_handles.man_roll_max		= 	PX4_PARAM_INIT("MC_MAN_R_MAX");
+	_params_handles.man_pitch_max		= 	PX4_PARAM_INIT("MC_MAN_P_MAX");
+	_params_handles.man_yaw_max		= 	PX4_PARAM_INIT("MC_MAN_Y_MAX");
+	_params_handles.acro_roll_max		= 	PX4_PARAM_INIT("MC_ACRO_R_MAX");
+	_params_handles.acro_pitch_max		= 	PX4_PARAM_INIT("MC_ACRO_P_MAX");
+	_params_handles.acro_yaw_max		= 	PX4_PARAM_INIT("MC_ACRO_Y_MAX");
 
 	/* fetch initial parameter values */
 	parameters_update();
@@ -157,53 +157,53 @@ MulticopterAttitudeControl::parameters_update()
 	float v;
 
 	/* roll gains */
-	param_get(_params_handles.roll_p, &v);
+	PX4_PARAM_GET(_params_handles.roll_p, &v);
 	_params.att_p(0) = v;
-	param_get(_params_handles.roll_rate_p, &v);
+	PX4_PARAM_GET(_params_handles.roll_rate_p, &v);
 	_params.rate_p(0) = v;
-	param_get(_params_handles.roll_rate_i, &v);
+	PX4_PARAM_GET(_params_handles.roll_rate_i, &v);
 	_params.rate_i(0) = v;
-	param_get(_params_handles.roll_rate_d, &v);
+	PX4_PARAM_GET(_params_handles.roll_rate_d, &v);
 	_params.rate_d(0) = v;
 
 	/* pitch gains */
-	param_get(_params_handles.pitch_p, &v);
+	PX4_PARAM_GET(_params_handles.pitch_p, &v);
 	_params.att_p(1) = v;
-	param_get(_params_handles.pitch_rate_p, &v);
+	PX4_PARAM_GET(_params_handles.pitch_rate_p, &v);
 	_params.rate_p(1) = v;
-	param_get(_params_handles.pitch_rate_i, &v);
+	PX4_PARAM_GET(_params_handles.pitch_rate_i, &v);
 	_params.rate_i(1) = v;
-	param_get(_params_handles.pitch_rate_d, &v);
+	PX4_PARAM_GET(_params_handles.pitch_rate_d, &v);
 	_params.rate_d(1) = v;
 
 	/* yaw gains */
-	param_get(_params_handles.yaw_p, &v);
+	PX4_PARAM_GET(_params_handles.yaw_p, &v);
 	_params.att_p(2) = v;
-	param_get(_params_handles.yaw_rate_p, &v);
+	PX4_PARAM_GET(_params_handles.yaw_rate_p, &v);
 	_params.rate_p(2) = v;
-	param_get(_params_handles.yaw_rate_i, &v);
+	PX4_PARAM_GET(_params_handles.yaw_rate_i, &v);
 	_params.rate_i(2) = v;
-	param_get(_params_handles.yaw_rate_d, &v);
+	PX4_PARAM_GET(_params_handles.yaw_rate_d, &v);
 	_params.rate_d(2) = v;
 
-	param_get(_params_handles.yaw_ff, &_params.yaw_ff);
-	param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
+	PX4_PARAM_GET(_params_handles.yaw_ff, &_params.yaw_ff);
+	PX4_PARAM_GET(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
 	_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
 
 	/* manual control scale */
-	param_get(_params_handles.man_roll_max, &_params.man_roll_max);
-	param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
-	param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
+	PX4_PARAM_GET(_params_handles.man_roll_max, &_params.man_roll_max);
+	PX4_PARAM_GET(_params_handles.man_pitch_max, &_params.man_pitch_max);
+	PX4_PARAM_GET(_params_handles.man_yaw_max, &_params.man_yaw_max);
 	_params.man_roll_max = math::radians(_params.man_roll_max);
 	_params.man_pitch_max = math::radians(_params.man_pitch_max);
 	_params.man_yaw_max = math::radians(_params.man_yaw_max);
 
 	/* acro control scale */
-	param_get(_params_handles.acro_roll_max, &v);
+	PX4_PARAM_GET(_params_handles.acro_roll_max, &v);
 	_params.acro_rate_max(0) = math::radians(v);
-	param_get(_params_handles.acro_pitch_max, &v);
+	PX4_PARAM_GET(_params_handles.acro_pitch_max, &v);
 	_params.acro_rate_max(1) = math::radians(v);
-	param_get(_params_handles.acro_yaw_max, &v);
+	PX4_PARAM_GET(_params_handles.acro_yaw_max, &v);
 	_params.acro_rate_max(2) = math::radians(v);
 
 	_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
diff --git a/src/modules/mc_att_control/mc_att_control.h b/src/modules/mc_att_control/mc_att_control.h
index b2ec3083f..4e1dd0b57 100644
--- a/src/modules/mc_att_control/mc_att_control.h
+++ b/src/modules/mc_att_control/mc_att_control.h
@@ -110,27 +110,27 @@ private:
 	px4::NodeHandle n;
 
 	struct {
-		param_t roll_p;
-		param_t roll_rate_p;
-		param_t roll_rate_i;
-		param_t roll_rate_d;
-		param_t pitch_p;
-		param_t pitch_rate_p;
-		param_t pitch_rate_i;
-		param_t pitch_rate_d;
-		param_t yaw_p;
-		param_t yaw_rate_p;
-		param_t yaw_rate_i;
-		param_t yaw_rate_d;
-		param_t yaw_ff;
-		param_t yaw_rate_max;
-
-		param_t man_roll_max;
-		param_t man_pitch_max;
-		param_t man_yaw_max;
-		param_t acro_roll_max;
-		param_t acro_pitch_max;
-		param_t acro_yaw_max;
+		px4_param_t roll_p;
+		px4_param_t roll_rate_p;
+		px4_param_t roll_rate_i;
+		px4_param_t roll_rate_d;
+		px4_param_t pitch_p;
+		px4_param_t pitch_rate_p;
+		px4_param_t pitch_rate_i;
+		px4_param_t pitch_rate_d;
+		px4_param_t yaw_p;
+		px4_param_t yaw_rate_p;
+		px4_param_t yaw_rate_i;
+		px4_param_t yaw_rate_d;
+		px4_param_t yaw_ff;
+		px4_param_t yaw_rate_max;
+
+		px4_param_t man_roll_max;
+		px4_param_t man_pitch_max;
+		px4_param_t man_yaw_max;
+		px4_param_t acro_roll_max;
+		px4_param_t acro_pitch_max;
+		px4_param_t acro_yaw_max;
 	}		_params_handles;		/**< handles for interesting parameters */
 
 	perf_counter_t _loop_perf; /**< loop performance counter */