diff --git a/src/modules/mc_att_control_vector/ecl_mc_att_control_vector.cpp b/src/modules/mc_att_control_vector/ecl_mc_att_control_vector.cpp
index b0e010a1c0..252cdafab5 100644
--- a/src/modules/mc_att_control_vector/ecl_mc_att_control_vector.cpp
+++ b/src/modules/mc_att_control_vector/ecl_mc_att_control_vector.cpp
@@ -50,7 +50,7 @@
 
 ECL_MCAttControlVector::ECL_MCAttControlVector() :
     _integral_error(0.0f, 0.0f),
-    _integral_max(1000.0f),
+    _integral_max(1000.0f, 1000.0f),
     _integral_lock(false)
     {
 
diff --git a/src/modules/mc_att_control_vector/ecl_mc_att_control_vector.h b/src/modules/mc_att_control_vector/ecl_mc_att_control_vector.h
index b975f2f7f5..a3440a06b2 100644
--- a/src/modules/mc_att_control_vector/ecl_mc_att_control_vector.h
+++ b/src/modules/mc_att_control_vector/ecl_mc_att_control_vector.h
@@ -50,7 +50,7 @@
 class ECL_MCAttControlVector {
 
 public:
-	ECL_MCAttControlVector(float integral_max);
+	ECL_MCAttControlVector();
 	void control(float dt, const math::Dcm &R_nb, float yaw, const math::Vector &F_des,
                                 float Kp, float Kd, float Ki, const math::Vector &angular_rates,
                                 math::Vector &rates_des, float &thrust);
@@ -65,12 +65,12 @@ public:
 		_integral_error(1) = 0.0f;
 	}
 
-	void lock_integral(bool lock) {
+	void lock_integrator(bool lock) {
 		_integral_lock = lock;
 	}
 
 protected:
-    math::Vector2 _integral_error;
-    math::Vector2 _integral_max;
+    math::Vector2f _integral_error;
+    math::Vector2f _integral_max;
     bool _integral_lock;
 };