From 9c1e257826c23682fa5fd85aafe9ff790327bf01 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 23 Jan 2012 08:46:39 +1100
Subject: [PATCH] fixed example in PID library

---
 libraries/PID/examples/pid/Makefile |  1 -
 libraries/PID/examples/pid/pid.pde  | 14 ++++++++++++--
 2 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/libraries/PID/examples/pid/Makefile b/libraries/PID/examples/pid/Makefile
index 85b4d8856b..d1f40fd90f 100644
--- a/libraries/PID/examples/pid/Makefile
+++ b/libraries/PID/examples/pid/Makefile
@@ -1,2 +1 @@
-BOARD	=	mega
 include ../../../AP_Common/Arduino.mk
diff --git a/libraries/PID/examples/pid/pid.pde b/libraries/PID/examples/pid/pid.pde
index 148f9644b8..509ed17166 100644
--- a/libraries/PID/examples/pid/pid.pde
+++ b/libraries/PID/examples/pid/pid.pde
@@ -4,20 +4,30 @@
 */
 
 #include <FastSerial.h>
+#include <avr/pgmspace.h>
 #include <AP_Common.h>
 #include <APM_RC.h> // ArduPilot RC Library
 #include <PID.h> // ArduPilot Mega RC Library
+#include <Arduino_Mega_ISR_Registry.h>
 
 long radio_in;
 long radio_trim;
 
-PID pid(10, "TEST1_");
+Arduino_Mega_ISR_Registry isr_registry;
+
+#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+    APM_RC_APM2 APM_RC;
+#else
+    APM_RC_APM1 APM_RC;
+#endif
+
+PID pid(AP_Var::k_key_none, NULL);
 
 void setup()
 {
 	Serial.begin(38400);
 	Serial.println("ArduPilot Mega PID library test");
-	APM_RC.Init();		// APM Radio initialization
+	APM_RC.Init(&isr_registry);		// APM Radio initialization
 
 	delay(1000);
 	//rc.trim();