Merge pull request #1763 from PX4/ros_paramapi

multiplatform: improve param api

5 files changed, 133 insertions, 166 deletions

diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control.cpp b/src/modules/mc_att_control_multiplatform/mc_att_control.cpp
index 1e40c2b05..ecbf98c9e 100644
--- a/src/modules/mc_att_control_multiplatform/mc_att_control.cpp
+++ b/src/modules/mc_att_control_multiplatform/mc_att_control.cpp
@@ -73,31 +73,34 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	_actuators_0_pub(nullptr),
 	_n(),
 
+	/* parameters */
+	_params_handles({
+			.roll_p		= px4::ParameterFloat("MC_ROLL_P", PARAM_MC_ROLL_P_DEFAULT),
+			.roll_rate_p	= px4::ParameterFloat("MC_ROLLRATE_P", PARAM_MC_ROLLRATE_P_DEFAULT),
+			.roll_rate_i	= px4::ParameterFloat("MC_ROLLRATE_I", PARAM_MC_ROLLRATE_I_DEFAULT),
+			.roll_rate_d	= px4::ParameterFloat("MC_ROLLRATE_D", PARAM_MC_ROLLRATE_D_DEFAULT),
+			.pitch_p	= px4::ParameterFloat("MC_PITCH_P", PARAM_MC_PITCH_P_DEFAULT),
+			.pitch_rate_p	= px4::ParameterFloat("MC_PITCHRATE_P", PARAM_MC_PITCHRATE_P_DEFAULT),
+			.pitch_rate_i	= px4::ParameterFloat("MC_PITCHRATE_I", PARAM_MC_PITCHRATE_I_DEFAULT),
+			.pitch_rate_d	= px4::ParameterFloat("MC_PITCHRATE_D", PARAM_MC_PITCHRATE_D_DEFAULT),
+			.yaw_p		= px4::ParameterFloat("MC_YAW_P", PARAM_MC_YAW_P_DEFAULT),
+			.yaw_rate_p	= px4::ParameterFloat("MC_YAWRATE_P", PARAM_MC_YAWRATE_P_DEFAULT),
+			.yaw_rate_i	= px4::ParameterFloat("MC_YAWRATE_I", PARAM_MC_YAWRATE_I_DEFAULT),
+			.yaw_rate_d	= px4::ParameterFloat("MC_YAWRATE_D", PARAM_MC_YAWRATE_D_DEFAULT),
+			.yaw_ff		= px4::ParameterFloat("MC_YAW_FF", PARAM_MC_YAW_FF_DEFAULT),
+			.yaw_rate_max	= px4::ParameterFloat("MC_YAWRATE_MAX", PARAM_MC_YAWRATE_MAX_DEFAULT),
+			.man_roll_max	= px4::ParameterFloat("MC_MAN_R_MAX", PARAM_MC_MAN_R_MAX_DEFAULT),
+			.man_pitch_max	= px4::ParameterFloat("MC_MAN_P_MAX", PARAM_MC_MAN_P_MAX_DEFAULT),
+			.man_yaw_max	= px4::ParameterFloat("MC_MAN_Y_MAX", PARAM_MC_MAN_Y_MAX_DEFAULT),
+			.acro_roll_max	= px4::ParameterFloat("MC_ACRO_R_MAX", PARAM_MC_ACRO_R_MAX_DEFAULT),
+			.acro_pitch_max	= px4::ParameterFloat("MC_ACRO_P_MAX", PARAM_MC_ACRO_P_MAX_DEFAULT),
+			.acro_yaw_max	= px4::ParameterFloat("MC_ACRO_Y_MAX", PARAM_MC_ACRO_Y_MAX_DEFAULT)
+	}),
+
 	/* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
 
 {
-	_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();
 
@@ -113,7 +116,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	_manual_control_sp = _n.subscribe<px4_manual_control_setpoint>(0);
 	_armed = _n.subscribe<px4_actuator_armed>(0);
 	_v_status = _n.subscribe<px4_vehicle_status>(0);
-
 }
 
 MulticopterAttitudeControl::~MulticopterAttitudeControl()
@@ -123,57 +125,36 @@ MulticopterAttitudeControl::~MulticopterAttitudeControl()
 int
 MulticopterAttitudeControl::parameters_update()
 {
-	float v;
-
 	/* roll gains */
-	PX4_PARAM_GET(_params_handles.roll_p, &v);
-	_params.att_p(0) = v;
-	PX4_PARAM_GET(_params_handles.roll_rate_p, &v);
-	_params.rate_p(0) = v;
-	PX4_PARAM_GET(_params_handles.roll_rate_i, &v);
-	_params.rate_i(0) = v;
-	PX4_PARAM_GET(_params_handles.roll_rate_d, &v);
-	_params.rate_d(0) = v;
+	_params.att_p(0) = _params_handles.roll_p.update();
+	_params.rate_p(0) = _params_handles.roll_rate_p.update();
+	_params.rate_i(0) = _params_handles.roll_rate_i.update();
+	_params.rate_d(0) = _params_handles.roll_rate_d.update();
 
 	/* pitch gains */
-	PX4_PARAM_GET(_params_handles.pitch_p, &v);
-	_params.att_p(1) = v;
-	PX4_PARAM_GET(_params_handles.pitch_rate_p, &v);
-	_params.rate_p(1) = v;
-	PX4_PARAM_GET(_params_handles.pitch_rate_i, &v);
-	_params.rate_i(1) = v;
-	PX4_PARAM_GET(_params_handles.pitch_rate_d, &v);
-	_params.rate_d(1) = v;
+	_params.att_p(1) = _params_handles.pitch_p.update();
+	_params.rate_p(1) = _params_handles.pitch_rate_p.update();
+	_params.rate_i(1) = _params_handles.pitch_rate_i.update();
+	_params.rate_d(1) = _params_handles.pitch_rate_d.update();
 
 	/* yaw gains */
-	PX4_PARAM_GET(_params_handles.yaw_p, &v);
-	_params.att_p(2) = v;
-	PX4_PARAM_GET(_params_handles.yaw_rate_p, &v);
-	_params.rate_p(2) = v;
-	PX4_PARAM_GET(_params_handles.yaw_rate_i, &v);
-	_params.rate_i(2) = v;
-	PX4_PARAM_GET(_params_handles.yaw_rate_d, &v);
-	_params.rate_d(2) = v;
-
-	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);
+	_params.att_p(2) = _params_handles.yaw_p.update();
+	_params.rate_p(2) = _params_handles.yaw_rate_p.update();
+	_params.rate_i(2) = _params_handles.yaw_rate_i.update();
+	_params.rate_d(2) = _params_handles.yaw_rate_d.update();
+
+	_params.yaw_ff = _params_handles.yaw_ff.update();
+	_params.yaw_rate_max = math::radians(_params_handles.yaw_rate_max.update());
 
 	/* manual control scale */
-	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);
+	_params.man_roll_max = math::radians(_params_handles.man_roll_max.update());
+	_params.man_pitch_max = math::radians(_params_handles.man_pitch_max.update());
+	_params.man_yaw_max = math::radians(_params_handles.man_yaw_max.update());
 
 	/* acro control scale */
-	PX4_PARAM_GET(_params_handles.acro_roll_max, &v);
-	_params.acro_rate_max(0) = math::radians(v);
-	PX4_PARAM_GET(_params_handles.acro_pitch_max, &v);
-	_params.acro_rate_max(1) = math::radians(v);
-	PX4_PARAM_GET(_params_handles.acro_yaw_max, &v);
-	_params.acro_rate_max(2) = math::radians(v);
+	_params.acro_rate_max(0) = math::radians(_params_handles.acro_roll_max.update());
+	_params.acro_rate_max(1) = math::radians(_params_handles.acro_pitch_max.update());
+	_params.acro_rate_max(2) = math::radians(_params_handles.acro_yaw_max.update());
 
 	_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
 
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control.h b/src/modules/mc_att_control_multiplatform/mc_att_control.h
index 95d608684..e44317316 100644
--- a/src/modules/mc_att_control_multiplatform/mc_att_control.h
+++ b/src/modules/mc_att_control_multiplatform/mc_att_control.h
@@ -95,29 +95,28 @@ private:
 	px4::NodeHandle _n;
 
 	struct {
-		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;
-
-		px4_param_t autostart_id;
+		px4::ParameterFloat roll_p;
+		px4::ParameterFloat roll_rate_p;
+		px4::ParameterFloat roll_rate_i;
+		px4::ParameterFloat roll_rate_d;
+		px4::ParameterFloat pitch_p;
+		px4::ParameterFloat pitch_rate_p;
+		px4::ParameterFloat pitch_rate_i;
+		px4::ParameterFloat pitch_rate_d;
+		px4::ParameterFloat yaw_p;
+		px4::ParameterFloat yaw_rate_p;
+		px4::ParameterFloat yaw_rate_i;
+		px4::ParameterFloat yaw_rate_d;
+		px4::ParameterFloat yaw_ff;
+		px4::ParameterFloat yaw_rate_max;
+
+		px4::ParameterFloat man_roll_max;
+		px4::ParameterFloat man_pitch_max;
+		px4::ParameterFloat man_yaw_max;
+		px4::ParameterFloat acro_roll_max;
+		px4::ParameterFloat acro_pitch_max;
+		px4::ParameterFloat acro_yaw_max;
+
 	}		_params_handles;		/**< handles for interesting parameters */
 
 	perf_counter_t _loop_perf; /**< loop performance counter */
diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
index b7fce5029..391558dcc 100644
--- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
+++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
@@ -52,11 +52,38 @@ MulticopterPositionControl::MulticopterPositionControl() :
 	_control_task(-1),
 	_mavlink_fd(-1),
 
-/* publications */
+	/* publications */
 	_att_sp_pub(nullptr),
 	_local_pos_sp_pub(nullptr),
 	_global_vel_sp_pub(nullptr),
 
+	/* outgoing messages */
+	_att_sp_msg(),
+	_local_pos_sp_msg(),
+	_global_vel_sp_msg(),
+
+	_n(),
+
+	/* parameters */
+	_params_handles({
+		.thr_min	    = px4::ParameterFloat("MPC_THR_MIN", PARAM_MPC_THR_MIN_DEFAULT),
+		.thr_max	    = px4::ParameterFloat("MPC_THR_MAX", PARAM_MPC_THR_MAX_DEFAULT),
+		.z_p		    = px4::ParameterFloat("MPC_Z_P", PARAM_MPC_Z_P_DEFAULT),
+		.z_vel_p	    = px4::ParameterFloat("MPC_Z_VEL_P", PARAM_MPC_Z_VEL_P_DEFAULT),
+		.z_vel_i	    = px4::ParameterFloat("MPC_Z_VEL_I", PARAM_MPC_Z_VEL_I_DEFAULT),
+		.z_vel_d	    = px4::ParameterFloat("MPC_Z_VEL_D", PARAM_MPC_Z_VEL_D_DEFAULT),
+		.z_vel_max	    = px4::ParameterFloat("MPC_Z_VEL_MAX", PARAM_MPC_Z_VEL_MAX_DEFAULT),
+		.z_ff		    = px4::ParameterFloat("MPC_Z_FF", PARAM_MPC_Z_FF_DEFAULT),
+		.xy_p		    = px4::ParameterFloat("MPC_XY_P", PARAM_MPC_XY_P_DEFAULT),
+		.xy_vel_p	    = px4::ParameterFloat("MPC_XY_VEL_P", PARAM_MPC_XY_VEL_P_DEFAULT),
+		.xy_vel_i	    = px4::ParameterFloat("MPC_XY_VEL_I", PARAM_MPC_XY_VEL_I_DEFAULT),
+		.xy_vel_d	    = px4::ParameterFloat("MPC_XY_VEL_D", PARAM_MPC_XY_VEL_D_DEFAULT),
+		.xy_vel_max	    = px4::ParameterFloat("MPC_XY_VEL_MAX", PARAM_MPC_XY_VEL_MAX_DEFAULT),
+		.xy_ff		    = px4::ParameterFloat("MPC_XY_FF", PARAM_MPC_XY_FF_DEFAULT),
+		.tilt_max_air	    = px4::ParameterFloat("MPC_TILTMAX_AIR", PARAM_MPC_TILTMAX_AIR_DEFAULT),
+		.land_speed	    = px4::ParameterFloat("MPC_LAND_SPEED", PARAM_MPC_LAND_SPEED_DEFAULT),
+		.tilt_max_land	    = px4::ParameterFloat("MPC_TILTMAX_LND", PARAM_MPC_TILTMAX_LND_DEFAULT)
+	}),
 	_ref_alt(0.0f),
 	_ref_timestamp(0),
 
@@ -84,7 +111,6 @@ MulticopterPositionControl::MulticopterPositionControl() :
 	_global_vel_sp = _n.subscribe<px4_vehicle_global_velocity_setpoint>(0);
 
 
-
 	_params.pos_p.zero();
 	_params.vel_p.zero();
 	_params.vel_i.zero();
@@ -101,24 +127,6 @@ MulticopterPositionControl::MulticopterPositionControl() :
 	_vel_ff.zero();
 	_sp_move_rate.zero();
 
-	_params_handles.thr_min		= PX4_PARAM_INIT(MPC_THR_MIN);
-	_params_handles.thr_max		= PX4_PARAM_INIT(MPC_THR_MAX);
-	_params_handles.z_p		= PX4_PARAM_INIT(MPC_Z_P);
-	_params_handles.z_vel_p		= PX4_PARAM_INIT(MPC_Z_VEL_P);
-	_params_handles.z_vel_i		= PX4_PARAM_INIT(MPC_Z_VEL_I);
-	_params_handles.z_vel_d		= PX4_PARAM_INIT(MPC_Z_VEL_D);
-	_params_handles.z_vel_max	= PX4_PARAM_INIT(MPC_Z_VEL_MAX);
-	_params_handles.z_ff		= PX4_PARAM_INIT(MPC_Z_FF);
-	_params_handles.xy_p		= PX4_PARAM_INIT(MPC_XY_P);
-	_params_handles.xy_vel_p	= PX4_PARAM_INIT(MPC_XY_VEL_P);
-	_params_handles.xy_vel_i	= PX4_PARAM_INIT(MPC_XY_VEL_I);
-	_params_handles.xy_vel_d	= PX4_PARAM_INIT(MPC_XY_VEL_D);
-	_params_handles.xy_vel_max	= PX4_PARAM_INIT(MPC_XY_VEL_MAX);
-	_params_handles.xy_ff		= PX4_PARAM_INIT(MPC_XY_FF);
-	_params_handles.tilt_max_air	= PX4_PARAM_INIT(MPC_TILTMAX_AIR);
-	_params_handles.land_speed	= PX4_PARAM_INIT(MPC_LAND_SPEED);
-	_params_handles.tilt_max_land	= PX4_PARAM_INIT(MPC_TILTMAX_LND);
-
 	/* fetch initial parameter values */
 	parameters_update();
 
@@ -132,47 +140,25 @@ MulticopterPositionControl::~MulticopterPositionControl()
 int
 MulticopterPositionControl::parameters_update()
 {
-	PX4_PARAM_GET(_params_handles.thr_min, &_params.thr_min);
-	PX4_PARAM_GET(_params_handles.thr_max, &_params.thr_max);
-	PX4_PARAM_GET(_params_handles.tilt_max_air, &_params.tilt_max_air);
-	_params.tilt_max_air = math::radians(_params.tilt_max_air);
-	PX4_PARAM_GET(_params_handles.land_speed, &_params.land_speed);
-	PX4_PARAM_GET(_params_handles.tilt_max_land, &_params.tilt_max_land);
-	_params.tilt_max_land = math::radians(_params.tilt_max_land);
-
-	float v;
-	PX4_PARAM_GET(_params_handles.xy_p, &v);
-	_params.pos_p(0) = v;
-	_params.pos_p(1) = v;
-	PX4_PARAM_GET(_params_handles.z_p, &v);
-	_params.pos_p(2) = v;
-	PX4_PARAM_GET(_params_handles.xy_vel_p, &v);
-	_params.vel_p(0) = v;
-	_params.vel_p(1) = v;
-	PX4_PARAM_GET(_params_handles.z_vel_p, &v);
-	_params.vel_p(2) = v;
-	PX4_PARAM_GET(_params_handles.xy_vel_i, &v);
-	_params.vel_i(0) = v;
-	_params.vel_i(1) = v;
-	PX4_PARAM_GET(_params_handles.z_vel_i, &v);
-	_params.vel_i(2) = v;
-	PX4_PARAM_GET(_params_handles.xy_vel_d, &v);
-	_params.vel_d(0) = v;
-	_params.vel_d(1) = v;
-	PX4_PARAM_GET(_params_handles.z_vel_d, &v);
-	_params.vel_d(2) = v;
-	PX4_PARAM_GET(_params_handles.xy_vel_max, &v);
-	_params.vel_max(0) = v;
-	_params.vel_max(1) = v;
-	PX4_PARAM_GET(_params_handles.z_vel_max, &v);
-	_params.vel_max(2) = v;
-	PX4_PARAM_GET(_params_handles.xy_ff, &v);
-	v = math::constrain(v, 0.0f, 1.0f);
-	_params.vel_ff(0) = v;
-	_params.vel_ff(1) = v;
-	PX4_PARAM_GET(_params_handles.z_ff, &v);
-	v = math::constrain(v, 0.0f, 1.0f);
-	_params.vel_ff(2) = v;
+	_params.thr_min = _params_handles.thr_min.update();
+	_params.thr_max = _params_handles.thr_max.update();
+	_params.tilt_max_air = math::radians(_params_handles.tilt_max_air.update());
+	_params.land_speed = _params_handles.land_speed.update();
+	_params.tilt_max_land = math::radians(_params_handles.tilt_max_land.update());
+
+	_params.pos_p(0) = _params.pos_p(1) = _params_handles.xy_p.update();
+	_params.pos_p(2) = _params_handles.z_p.update();
+	_params.vel_p(0) = _params.vel_p(1) = _params_handles.xy_vel_p.update();
+	_params.vel_p(2) = _params_handles.z_vel_p.update();
+	_params.vel_i(0) = _params.vel_i(1) = _params_handles.xy_vel_i.update();
+	_params.vel_i(2) = _params_handles.z_vel_i.update();
+	_params.vel_d(0) = _params.vel_d(1) = _params_handles.xy_vel_d.update();
+	_params.vel_d(2) = _params_handles.z_vel_d.update();
+	_params.vel_max(0) = _params.vel_max(1) = _params_handles.xy_vel_max.update();
+	_params.vel_max(2) = _params_handles.z_vel_max.update();
+
+	_params.vel_ff(0) = _params.vel_ff(1) = math::constrain(_params_handles.xy_ff.update(), 0.0f, 1.0f);
+	_params.vel_ff(2) = math::constrain(_params_handles.z_ff.update(), 0.0f, 1.0f);
 
 	_params.sp_offs_max = _params.vel_max.edivide(_params.pos_p) * 2.0f;
 
diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control.h b/src/modules/mc_pos_control_multiplatform/mc_pos_control.h
index 05bd1387b..245b5f5a9 100644
--- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.h
+++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.h
@@ -107,25 +107,24 @@ protected:
 
 	px4::NodeHandle _n;
 
-
 	struct {
-		px4_param_t thr_min;
-		px4_param_t thr_max;
-		px4_param_t z_p;
-		px4_param_t z_vel_p;
-		px4_param_t z_vel_i;
-		px4_param_t z_vel_d;
-		px4_param_t z_vel_max;
-		px4_param_t z_ff;
-		px4_param_t xy_p;
-		px4_param_t xy_vel_p;
-		px4_param_t xy_vel_i;
-		px4_param_t xy_vel_d;
-		px4_param_t xy_vel_max;
-		px4_param_t xy_ff;
-		px4_param_t tilt_max_air;
-		px4_param_t land_speed;
-		px4_param_t tilt_max_land;
+		px4::ParameterFloat thr_min;
+		px4::ParameterFloat thr_max;
+		px4::ParameterFloat z_p;
+		px4::ParameterFloat z_vel_p;
+		px4::ParameterFloat z_vel_i;
+		px4::ParameterFloat z_vel_d;
+		px4::ParameterFloat z_vel_max;
+		px4::ParameterFloat z_ff;
+		px4::ParameterFloat xy_p;
+		px4::ParameterFloat xy_vel_p;
+		px4::ParameterFloat xy_vel_i;
+		px4::ParameterFloat xy_vel_d;
+		px4::ParameterFloat xy_vel_max;
+		px4::ParameterFloat xy_ff;
+		px4::ParameterFloat tilt_max_air;
+		px4::ParameterFloat land_speed;
+		px4::ParameterFloat tilt_max_land;
 	}		_params_handles;		/**< handles for interesting parameters */
 
 	struct {
diff --git a/src/modules/mc_pos_control_multiplatform/module.mk b/src/modules/mc_pos_control_multiplatform/module.mk
index 2852ebbec..9f7548e8a 100644
--- a/src/modules/mc_pos_control_multiplatform/module.mk
+++ b/src/modules/mc_pos_control_multiplatform/module.mk
@@ -41,3 +41,5 @@ SRCS		= mc_pos_control_main.cpp \
 		  mc_pos_control_start_nuttx.cpp \
 		  mc_pos_control.cpp \
 		  mc_pos_control_params.c
+
+EXTRACXXFLAGS = -Wframe-larger-than=1040