diff --git a/src/modules/mc_att_control/mc_att_control_base.cpp b/src/modules/mc_att_control/mc_att_control_base.cpp
index a3b0340d2e..305fbaf892 100644
--- a/src/modules/mc_att_control/mc_att_control_base.cpp
+++ b/src/modules/mc_att_control/mc_att_control_base.cpp
@@ -32,6 +32,11 @@
 /**
  * @file mc_att_control_base.h
  *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Julian Oes <julian@oes.ch>
  * @author Roman Bapst <bapstr@ethz.ch>
  *
  */
@@ -47,11 +52,6 @@ using namespace std;
 #endif
 
 MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
-	_task_should_exit(false),
-	_control_task(-1),
-
-	_actuators_0_circuit_breaker_enabled(false),
-
 	_publish_att_sp(false)
 
 {
diff --git a/src/modules/mc_att_control/mc_att_control_base.h b/src/modules/mc_att_control/mc_att_control_base.h
index e7793e624c..662d32ee44 100644
--- a/src/modules/mc_att_control/mc_att_control_base.h
+++ b/src/modules/mc_att_control/mc_att_control_base.h
@@ -35,6 +35,11 @@
 /**
  * @file mc_att_control_base.h
  *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Julian Oes <julian@oes.ch>
  * @author Roman Bapst <bapstr@ethz.ch>
  *
  */
@@ -88,11 +93,6 @@ public:
 	void set_actuator_controls();
 
 protected:
-
-	bool _task_should_exit; /**< if true, sensor task should exit */
-	int _control_task; /**< task handle for sensor task */
-	bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
-
 	struct vehicle_attitude_s _v_att; /**< vehicle attitude */
 	struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */
 	struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 7a03553f9c..16a3b627fd 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -38,6 +38,9 @@
  * @author Tobias Naegeli <naegelit@student.ethz.ch>
  * @author Lorenz Meier <lm@inf.ethz.ch>
  * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Julian Oes <julian@oes.ch>
+ * @author Roman Bapst <bapstr@ethz.ch>
  *
  * The controller has two loops: P loop for angular error and PD loop for angular rate error.
  * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
@@ -110,8 +113,10 @@ public:
 	int		start();
 
 private:
-	bool	_task_should_exit;		/**< if true, sensor task should exit */
-	int		_control_task;			/**< task handle for sensor task */
+	bool		_task_should_exit;			/**< if true, sensor task should exit */
+	int		_control_task;				/**< task handle for sensor task */
+	bool		_actuators_0_circuit_breaker_enabled;	/**< circuit breaker to suppress output */
+
 
 	int		_v_att_sub;				/**< vehicle attitude subscription */
 	int		_v_att_sp_sub;			/**< vehicle attitude setpoint subscription */
@@ -211,6 +216,9 @@ MulticopterAttitudeControl	*g_control;
 
 MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	MulticopterAttitudeControlBase(),
+	_task_should_exit(false),
+	_control_task(-1),
+	_actuators_0_circuit_breaker_enabled(false),
 	/* subscriptions */
 	_v_att_sub(-1),
 	_v_att_sp_sub(-1),