mirror of https://github.com/ArduPilot/ardupilot
removed EEPROMB references
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1315 f9c3cf11-9bcb-44bc-f272-b75c42450872
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@ -73,15 +73,15 @@ PID::load_gains()
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// load is a NOP if the gain array is managed externally
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// load is a NOP if the gain array is managed externally
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break;
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break;
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case STORE_EEPROM_UINT16:
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case STORE_EEPROM_UINT16:
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// _kp = (float)(eeprom_read_word((uint16_t *) _address)) / 1000.0;
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_kp = (float)(eeprom_read_word((uint16_t *) _address)) / 1000.0;
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// _ki = (float)(eeprom_read_word((uint16_t *) (_address + 2))) / 1000.0;
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_ki = (float)(eeprom_read_word((uint16_t *) (_address + 2))) / 1000.0;
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//_kd = (float)(eeprom_read_word((uint16_t *) (_address + 4))) / 1000.0;
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_kd = (float)(eeprom_read_word((uint16_t *) (_address + 4))) / 1000.0;
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//_imax = eeprom_read_word((uint16_t *) (_address + 6)) * 100;
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_imax = eeprom_read_word((uint16_t *) (_address + 6)) * 100;
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_kp = (float)_ee.read_int(_address) / 1000.0;
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//_kp = (float)_ee.read_int(_address) / 1000.0;
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_ki = (float)_ee.read_int(_address + 2) / 1000.0;
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//_ki = (float)_ee.read_int(_address + 2) / 1000.0;
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_kd = (float)_ee.read_int(_address + 4) / 1000.0;
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//_kd = (float)_ee.read_int(_address + 4) / 1000.0;
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_imax = (float)_ee.read_int(_address + 6) * 100;
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//_imax = (float)_ee.read_int(_address + 6) * 100;
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break;
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break;
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@ -103,16 +103,16 @@ PID::save_gains()
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// save is a NOP if the gain array is managed externally
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// save is a NOP if the gain array is managed externally
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break;
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break;
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case STORE_EEPROM_UINT16:
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case STORE_EEPROM_UINT16:
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/*
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eeprom_write_word((uint16_t *) _address, (int)(_kp * 1000));
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eeprom_write_word((uint16_t *) _address, (int)(_kp * 1000));
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eeprom_write_word((uint16_t *) (_address + 2), (int)(_ki * 1000));
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eeprom_write_word((uint16_t *) (_address + 2), (int)(_ki * 1000));
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eeprom_write_word((uint16_t *) (_address + 4), (int)(_kd * 1000));
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eeprom_write_word((uint16_t *) (_address + 4), (int)(_kd * 1000));
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eeprom_write_word((uint16_t *) (_address + 6), (int)_imax/100);
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eeprom_write_word((uint16_t *) (_address + 6), (int)_imax/100);
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*/
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_ee.write_int(_address, (int)(_kp * 1000));
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/*_ee.write_int(_address, (int)(_kp * 1000));
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_ee.write_int(_address + 2, (int)(_ki * 1000));
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_ee.write_int(_address + 2, (int)(_ki * 1000));
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_ee.write_int(_address + 4, (int)(_kd * 1000));
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_ee.write_int(_address + 4, (int)(_kd * 1000));
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_ee.write_int(_address + 6, (int)(_imax /100));
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_ee.write_int(_address + 6, (int)(_imax /100));
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*/
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break;
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break;
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case STORE_EEPROM_FLOAT:
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case STORE_EEPROM_FLOAT:
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//eeprom_write_block((const void *)&_kp,(void *)(_address),sizeof(_kp));
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//eeprom_write_block((const void *)&_kp,(void *)(_address),sizeof(_kp));
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@ -7,7 +7,6 @@
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#define PID_h
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#define PID_h
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#include <stdint.h>
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#include <stdint.h>
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#include <AP_EEPROMB.h>
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/// @class PID
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/// @class PID
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/// @brief Object managing one PID control
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/// @brief Object managing one PID control
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@ -118,7 +117,6 @@ public:
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float get_integrator() { return _integrator; }
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float get_integrator() { return _integrator; }
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private:
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private:
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AP_EEPROMB _ee;
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uint16_t _address; ///< EEPROM address for save/restore of P/I/D
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uint16_t _address; ///< EEPROM address for save/restore of P/I/D
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float *_gain_array; ///< pointer to the gains for this pid
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float *_gain_array; ///< pointer to the gains for this pid
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