diff --git a/src/modules/fw_att_control/CMakeLists.txt b/src/modules/fw_att_control/CMakeLists.txt
index 749519f9b9..f3f9b458c5 100644
--- a/src/modules/fw_att_control/CMakeLists.txt
+++ b/src/modules/fw_att_control/CMakeLists.txt
@@ -43,4 +43,4 @@ px4_add_module(
 		px4_work_queue
 	)
 
-px4_add_unit_gtest(SRC FixedwingAttitudeControlTest.cpp)
+px4_add_unit_gtest(SRC FixedwingAttitudeControlTest.cpp LINKLIBS modules__fw_att_control)
diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
index 6ddf57e49f..9323aca6fd 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
@@ -74,8 +74,8 @@ FixedwingAttitudeControl::init()
 void
 FixedwingAttitudeControl::parameters_update()
 {
-	_proportional_gain = matrix::Vector3f(1.0f / _param_fw_r_tc.get(),
-					      1.0f / _param_fw_p_tc.get(),
+	_proportional_gain = matrix::Vector3f(1.0f / math::max(0.01f, _param_fw_r_tc.get()),
+					      1.0f / math::max(0.01f, _param_fw_p_tc.get()),
 					      1.0f);
 
 	_wheel_ctrl.set_k_p(_param_fw_wr_p.get());