From be3b1cb6ab49c58743d3427251d2633e1d966a56 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 28 May 2016 15:44:27 +0900
Subject: [PATCH] Copter: convert STB_ params to ATC_ANG_

---
 ArduCopter/Parameters.cpp | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index a972fce510..52380ea124 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1059,7 +1059,10 @@ void Copter::convert_pid_parameters(void)
         { Parameters::k_param_pid_rate_yaw,   7, AP_PARAM_FLOAT, "ATC_RAT_YAW_ILMI" },
 #endif
     };
-    AP_Param::ConversionInfo filt_conversion_info[] = {
+    AP_Param::ConversionInfo angle_and_filt_conversion_info[] = {
+        { Parameters::k_param_p_stabilize_roll, 0, AP_PARAM_FLOAT, "ATC_ANG_RLL_P" },
+        { Parameters::k_param_p_stabilize_pitch, 0, AP_PARAM_FLOAT, "ATC_ANG_PIT_P" },
+        { Parameters::k_param_p_stabilize_yaw, 0, AP_PARAM_FLOAT, "ATC_ANG_YAW_P" },
         { Parameters::k_param_pid_rate_roll, 6, AP_PARAM_FLOAT, "ATC_RAT_RLL_FILT" },
         { Parameters::k_param_pid_rate_pitch, 6, AP_PARAM_FLOAT, "ATC_RAT_PIT_FILT" },
         { Parameters::k_param_pid_rate_yaw, 6, AP_PARAM_FLOAT, "ATC_RAT_YAW_FILT" }
@@ -1086,9 +1089,9 @@ void Copter::convert_pid_parameters(void)
     for (uint8_t i=0; i<table_size; i++) {
         AP_Param::convert_old_parameter(&imax_conversion_info[i], 1.0f/4500.0f);
     }
-    // convert filter without scaling
-    table_size = ARRAY_SIZE(filt_conversion_info);
+    // convert angle controller gain and filter without scaling
+    table_size = ARRAY_SIZE(angle_and_filt_conversion_info);
     for (uint8_t i=0; i<table_size; i++) {
-        AP_Param::convert_old_parameter(&filt_conversion_info[i], 1.0f);
+        AP_Param::convert_old_parameter(&angle_and_filt_conversion_info[i], 1.0f);
     }
 }