diff options
Diffstat (limited to 'src/modules/multirotor_pos_control/multirotor_pos_control_params.c')
-rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control_params.c | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c index 9c1ef2edb..bf9578ea3 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c @@ -59,6 +59,8 @@ PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 0.5f); int parameters_init(struct multirotor_position_control_param_handles *h) { + h->takeoff_alt = param_find("NAV_TAKEOFF_ALT"); + h->takeoff_gap = param_find("NAV_TAKEOFF_GAP"); h->thr_min = param_find("MPC_THR_MIN"); h->thr_max = param_find("MPC_THR_MAX"); h->z_p = param_find("MPC_Z_P"); @@ -84,6 +86,8 @@ int parameters_init(struct multirotor_position_control_param_handles *h) int parameters_update(const struct multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p) { + param_get(h->takeoff_alt, &(p->takeoff_alt)); + param_get(h->takeoff_gap, &(p->takeoff_gap)); param_get(h->thr_min, &(p->thr_min)); param_get(h->thr_max, &(p->thr_max)); param_get(h->z_p, &(p->z_p)); |