From 89c0259b2a5fe96ba5919dc17381406f2c327e55 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@px4.io>
Date: Wed, 11 Apr 2018 14:59:11 +0200
Subject: [PATCH] PositionControl: replace overwrite with ModuleParams
 updateParams method

---
 src/modules/mc_pos_control/PositionControl.cpp | 8 +++++---
 src/modules/mc_pos_control/PositionControl.hpp | 4 ++++
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp
index edf11f4c84..5017eb5960 100644
--- a/src/modules/mc_pos_control/PositionControl.cpp
+++ b/src/modules/mc_pos_control/PositionControl.cpp
@@ -277,9 +277,11 @@ void PositionControl::updateConstraints(const Controller::Constraints &constrain
 	}
 }
 
-void PositionControl::overwriteParams()
+void PositionControl::updateParams()
 {
+	ModuleParams::updateParams();
+
 	// Tilt needs to be in radians
-	MPC_TILTMAX_AIR.set(math::radians(MPC_TILTMAX_AIR.get()));
-	MPC_MAN_TILT_MAX.set(math::radians(MPC_MAN_TILT_MAX.get()));
+	MPC_TILTMAX_AIR_rad.set(math::radians(MPC_TILTMAX_AIR_rad.get()));
+	MPC_MAN_TILT_MAX_rad.set(math::radians(MPC_MAN_TILT_MAX_rad.get()));
 }
diff --git a/src/modules/mc_pos_control/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl.hpp
index 89a0ec0970..3927be40e2 100644
--- a/src/modules/mc_pos_control/PositionControl.hpp
+++ b/src/modules/mc_pos_control/PositionControl.hpp
@@ -167,6 +167,10 @@ public:
 	 */
 	matrix::Vector3f getPosSp() {return _pos_sp;}
 
+protected:
+
+	void updateParams() override;
+
 private:
 	void _interfaceMapping(); /** maps set-points to internal member set-points */
 	void _positionController(); /** applies the P-position-controller */