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AC_PID: update example to stop shadowing global chibios variable

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This commit is contained in:
Peter Barker 2019-03-20 18:04:24 +11:00 committed by Peter Barker
parent 26c01accb9
commit 2dae643280
1 changed files with 4 additions and 4 deletions
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8
libraries/AC_PID/examples/AC_PID_test/AC_PID_test.cpp
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@ -76,8 +76,8 @@ void loop()
// display PID gains
hal.console->printf("P %f I %f D %f imax %f\n", (double)pid.kP(), (double)pid.kI(), (double)pid.kD(), (double)pid.imax());
RC_Channel *ch = rc().channel(0);
if (ch == nullptr) {
RC_Channel *c = rc().channel(0);
if (c == nullptr) {
while (true) {
hal.console->printf("No channel 0?");
hal.scheduler->delay(1000);
@ -85,11 +85,11 @@ void loop()
}
// capture radio trim
const uint16_t radio_trim = ch->get_radio_in();
const uint16_t radio_trim = c->get_radio_in();
while (true) {
rc().read_input(); // poll the radio for new values
const uint16_t radio_in = ch->get_radio_in();
const uint16_t radio_in = c->get_radio_in();
const int16_t error = radio_in - radio_trim;
pid.set_input_filter_all(error);
const float control_P = pid.get_p();