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AC_PID: Use RC_Channels instead of hal.rcin

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This commit is contained in:
Michael du Breuil 2018-04-03 19:18:15 -07:00 committed by Francisco Ferreira
parent 9f673c2746
commit 5d84850f32
1 changed files with 4 additions and 2 deletions
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6
libraries/AC_PID/examples/AC_PID_test/AC_PID_test.cpp
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@ -6,6 +6,7 @@
#include <AP_HAL/AP_HAL.h>
#include <AC_PID/AC_PID.h>
#include <AC_PID/AC_HELI_PID.h>
#include <RC_Channel/RC_Channel.h>
void setup();
void loop();
@ -44,10 +45,11 @@ void loop()
hal.console->printf("P %f I %f D %f imax %f\n", (double)pid.kP(), (double)pid.kI(), (double)pid.kD(), (double)pid.imax());
// capture radio trim
radio_trim = hal.rcin->read(0);
radio_trim = RC_Channels::get_radio_in(0);
while (true) {
radio_in = hal.rcin->read(0);
RC_Channels::set_pwm_all(); // poll the radio for new values
radio_in = RC_Channels::get_radio_in(0);
error = radio_in - radio_trim;
pid.set_input_filter_all(error);
control_P = pid.get_p();