1 files changed, 20 insertions, 24 deletions

diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index 45dcddb9c..260b25a48 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -194,8 +194,6 @@ private:
 		float man_roll_max;						/**< Max Roll in rad */
 		float man_pitch_max;					/**< Max Pitch in rad */
 
-		param_t autostart_id;			/* indicates which airframe is used */
-
 	}		_parameters;			/**< local copies of interesting parameters */
 
 	struct {
@@ -236,7 +234,6 @@ private:
 		param_t man_roll_max;
 		param_t man_pitch_max;
 
-		param_t autostart_id;		/* indicates which airframe is used */
 	}		_parameter_handles;		/**< handles for interesting parameters */
 
 
@@ -338,6 +335,9 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_actuators_0_pub(-1),
 	_actuators_2_pub(-1),
 
+	_rates_sp_id(0),
+	_actuators_id(0),
+
 /* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
 	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control nonfinite input")),
@@ -396,20 +396,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_parameter_handles.man_roll_max = param_find("FW_MAN_R_MAX");
 	_parameter_handles.man_pitch_max = param_find("FW_MAN_P_MAX");
 
-	_parameter_handles.autostart_id 	= param_find("SYS_AUTOSTART");
-
 	/* fetch initial parameter values */
 	parameters_update();
-
-	/* set correct uORB ID, depending on if vehicle is VTOL or not */
-	if (_parameters.autostart_id >= 13000 && _parameters.autostart_id <= 13999) { /* VTOL airframe?*/
-		_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
-		_actuators_id = ORB_ID(actuator_controls_virtual_fw);
-	}
-	else {
-		_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
-		_actuators_id = ORB_ID(actuator_controls_0);
-	}
 }
 
 FixedwingAttitudeControl::~FixedwingAttitudeControl()
@@ -484,8 +472,6 @@ FixedwingAttitudeControl::parameters_update()
 	_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
 	_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
 
-	param_get(_parameter_handles.autostart_id, &_parameters.autostart_id);
-
 	/* pitch control parameters */
 	_pitch_ctrl.set_time_constant(_parameters.tconst);
 	_pitch_ctrl.set_k_p(_parameters.p_p);
@@ -601,6 +587,16 @@ FixedwingAttitudeControl::vehicle_status_poll()
 
 	if (vehicle_status_updated) {
 		orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
+		/* set correct uORB ID, depending on if vehicle is VTOL or not */
+		if (!_rates_sp_id) {
+			if (_vehicle_status.is_vtol) {
+				_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
+				_actuators_id = ORB_ID(actuator_controls_virtual_fw);
+			} else {
+				_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
+				_actuators_id = ORB_ID(actuator_controls_0);
+			}
+		}
 	}
 }
 
@@ -701,11 +697,11 @@ FixedwingAttitudeControl::task_main()
 			/* load local copies */
 			orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
 
-			if (_parameters.autostart_id >= 13000
-			    && _parameters.autostart_id <= 13999) {	//vehicle type is VTOL, need to modify attitude!
-				/* The following modification to the attitude is vehicle specific and in this case applies
-				   to tail-sitter models !!!
-
+			if (_vehicle_status.is_vtol) {
+				/* vehicle type is VTOL, need to modify attitude!
+				 * The following modification to the attitude is vehicle specific and in this case applies
+				 *  to tail-sitter models !!!
+				 *
 				 * Since the VTOL airframe is initialized as a multicopter we need to
 				 * modify the estimated attitude for the fixed wing operation.
 				 * Since the neutral position of the vehicle in fixed wing mode is -90 degrees rotated around
@@ -1031,7 +1027,7 @@ FixedwingAttitudeControl::task_main()
 				if (_rate_sp_pub > 0) {
 					/* publish the attitude rates setpoint */
 					orb_publish(_rates_sp_id, _rate_sp_pub, &_rates_sp);
-				} else {
+				} else if (_rates_sp_id) {
 					/* advertise the attitude rates setpoint */
 					_rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp);
 				}
@@ -1056,7 +1052,7 @@ FixedwingAttitudeControl::task_main()
 			/* publish the actuator controls */
 			if (_actuators_0_pub > 0) {
 				orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
-			} else {
+			} else if (_actuators_id) {
 				_actuators_0_pub= orb_advertise(_actuators_id, &_actuators);
 			}