From dd6c4d622559b7062766d034b65c35b7f183836d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 1 Apr 2016 16:17:07 +1100
Subject: [PATCH] Plane: fixed up parameters for quadplane

this fixes quadplane parameters for the new AP_Motors code
---
 ArduPlane/Parameters.cpp | 6 ++++++
 ArduPlane/Parameters.h   | 1 +
 ArduPlane/quadplane.cpp  | 4 ----
 3 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 7db8eb144b..3e28a6c1ad 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1105,6 +1105,12 @@ const AP_Param::Info Plane::var_info[] = {
     // @Group: Q_
     // @Path: quadplane.cpp
     GOBJECT(quadplane,           "Q_", QuadPlane),
+
+    // @Group: Q_A_
+    // @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
+    { AP_PARAM_GROUP, "Q_A_", Parameters::k_param_q_attitude_control,
+      (const void *)&plane.quadplane.attitude_control,
+      {group_info : AC_AttitudeControl_Multi::var_info}, AP_PARAM_FLAG_POINTER },
     
     // RC channel
     //-----------
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index fafbb03241..3285aa7ee4 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -152,6 +152,7 @@ public:
         k_param_fence_retalt = 105,
         k_param_fence_autoenable,
         k_param_fence_ret_rally,
+        k_param_q_attitude_control,
 
         // 110: Telemetry control
         //
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 356bdda82b..6c5345a506 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -17,10 +17,6 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
 
     // 3 ~ 8 were used by quadplane attitude control PIDs
 
-    // @Group: ATC_
-    // @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
-    AP_SUBGROUPPTR(attitude_control,  "A_", 9, QuadPlane, AC_AttitudeControl_Multi),
-
     // @Param: ANGLE_MAX
     // @DisplayName: Angle Max
     // @Description: Maximum lean angle in all flight modes