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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
View File

@ -3,21 +3,26 @@
2010 Code by Jason Short. DIYDrones.com
*/
#include <Arduino_Mega_ISR_Registry.h>
#include <FastSerial.h>
#include <AP_Common.h>
#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_trim;
PID pid();
Arduino_Mega_ISR_Registry isr_registry;
AP_PID pid;
APM_RC_APM1 APM_RC;
void setup()
{
Serial.begin(38400);
Serial.println("ArduPilot Mega PID library test");
APM_RC.Init(); // APM Radio initialization
Serial.begin(115200);
Serial.println("ArduPilot Mega AP_PID library test");
isr_registry.init();
APM_RC.Init(&isr_registry); // APM Radio initialization
delay(1000);
//rc.trim();
@ -27,12 +32,10 @@ void setup()
pid.kI(0);
pid.kD(0.5);
pid.imax(50);
pid.save_gains();
pid.kP(0);
pid.kI(0);
pid.kD(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());
}

3
libraries/AP_RC_Channel/AP_RC_Channel.cpp
View File

@ -88,11 +88,14 @@ AP_RC_Channel::set_pwm(int pwm)
control_in = pwm_to_angle();
control_in = (abs(control_in) < dead_zone) ? 0 : control_in;
/*
// coming soon ??
if(expo) {
long temp = control_in;
temp = (temp * temp) / (long)_high;
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()
{
Serial.begin(115200);
//Serial.begin(38400);
Serial.println("ArduPilot RC Channel test");
rc.init(); // APM Radio initialization

7
libraries/FastSerial/examples/FastSerial/FastSerial.pde
View File

@ -17,8 +17,9 @@
#undef PROGMEM
#define PROGMEM __attribute__(( section(".progmem.data") ))
#undef PSTR
#define PSTR(s) (__extension__({static prog_char __c[] PROGMEM = (s); &__c[0];}))
# undef PSTR
# 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
@ -38,7 +39,7 @@ void setup(void)
//
// Set the speed for our replacement serial port.
//
Serial.begin(38400);
Serial.begin(115200);
//
// Test printing things