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AP_PID, AP_RC_Channel, FastSerial - small changes to make example sketches compile again

This commit is contained in:
Randy Mackay 2012-01-28 17:54:20 +09:00
parent 2e1e34fb9c
commit 8bcc567406
4 changed files with 17 additions and 11 deletions
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17
libraries/AP_PID/examples/AP_pid/AP_pid.pde
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@ -3,21 +3,26 @@
2010 Code by Jason Short. DIYDrones.com 2010 Code by Jason Short. DIYDrones.com
*/ */
#include <Arduino_Mega_ISR_Registry.h>
#include <FastSerial.h> #include <FastSerial.h>
#include <AP_Common.h> #include <AP_Common.h>
#include <APM_RC.h> // ArduPilot RC Library #include <APM_RC.h> // ArduPilot RC Library
#include <PID.h> // ArduPilot Mega RC Library #include <AP_PID.h> // ArduPilot Mega RC Library
long radio_in; long radio_in;
long radio_trim; long radio_trim;
PID pid(); Arduino_Mega_ISR_Registry isr_registry;
AP_PID pid;
APM_RC_APM1 APM_RC;
void setup() void setup()
{ {
Serial.begin(38400); Serial.begin(115200);
Serial.println("ArduPilot Mega PID library test"); Serial.println("ArduPilot Mega AP_PID library test");
APM_RC.Init(); // APM Radio initialization
isr_registry.init();
APM_RC.Init(&isr_registry); // APM Radio initialization
delay(1000); delay(1000);
//rc.trim(); //rc.trim();
@ -27,12 +32,10 @@ void setup()
pid.kI(0); pid.kI(0);
pid.kD(0.5); pid.kD(0.5);
pid.imax(50); pid.imax(50);
pid.save_gains();
pid.kP(0); pid.kP(0);
pid.kI(0); pid.kI(0);
pid.kD(0); pid.kD(0);
pid.imax(0); pid.imax(0);
pid.load_gains();
Serial.printf("P %f I %f D %f imax %f\n", pid.kP(), pid.kI(), pid.kD(), pid.imax()); Serial.printf("P %f I %f D %f imax %f\n", pid.kP(), pid.kI(), pid.kD(), pid.imax());
} }

3
libraries/AP_RC_Channel/AP_RC_Channel.cpp
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@ -88,11 +88,14 @@ AP_RC_Channel::set_pwm(int pwm)
control_in = pwm_to_angle(); control_in = pwm_to_angle();
control_in = (abs(control_in) < dead_zone) ? 0 : control_in; control_in = (abs(control_in) < dead_zone) ? 0 : control_in;
/*
// coming soon ??
if(expo) { if(expo) {
long temp = control_in; long temp = control_in;
temp = (temp * temp) / (long)_high; temp = (temp * temp) / (long)_high;
control_in = (int)((control_in >= 0) ? temp : -temp); control_in = (int)((control_in >= 0) ? temp : -temp);
} }
*/
} }
} }

1
libraries/AP_RC_Channel/examples/AP_RC_Channel/AP_RC_Channel.pde
View File

@ -29,7 +29,6 @@ AP_RC rc;
void setup() void setup()
{ {
Serial.begin(115200); Serial.begin(115200);
//Serial.begin(38400);
Serial.println("ArduPilot RC Channel test"); Serial.println("ArduPilot RC Channel test");
rc.init(); // APM Radio initialization rc.init(); // APM Radio initialization

5
libraries/FastSerial/examples/FastSerial/FastSerial.pde
View File

@ -18,7 +18,8 @@
#define PROGMEM __attribute__(( section(".progmem.data") )) #define PROGMEM __attribute__(( section(".progmem.data") ))
# undef PSTR # undef PSTR
#define PSTR(s) (__extension__({static prog_char __c[] PROGMEM = (s); &__c[0];})) # define PSTR(s) (__extension__({static prog_char __c[] PROGMEM = (s); \
(prog_char_t *)&__c[0];}))
// //
// Create a FastSerial driver that looks just like the stock Arduino // Create a FastSerial driver that looks just like the stock Arduino
@ -38,7 +39,7 @@ void setup(void)
// //
// Set the speed for our replacement serial port. // Set the speed for our replacement serial port.
// //
Serial.begin(38400); Serial.begin(115200);
// //
// Test printing things // Test printing things