From 6b6d03eb8df8643798fa1e8d53b815df5b7f7e06 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 13 Feb 2017 20:37:51 +1100
Subject: [PATCH] Copter: fixed upgrade of parameters

now that we dynamically allocate many key objects in copter we need to
move the parameter upgrade code to after when the objects are allocated
---
 ArduCopter/Parameters.cpp | 2 --
 ArduCopter/system.cpp     | 3 +++
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 9915fa7264..b33c0f5ded 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1075,8 +1075,6 @@ void Copter::load_parameters(void)
     // setup AP_Param frame type flags
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_COPTER);
     
-    // upgrade parameters
-    convert_pid_parameters();
 }
 
 // handle conversion of PID gains from Copter-3.3 to Copter-3.4
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 565a2d2426..61e9b34e80 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -651,4 +651,7 @@ void Copter::allocate_motors(void)
         }
 #endif
     }
+
+    // upgrade parameters. This must be done after allocating the objects
+    convert_pid_parameters();
 }