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APM_Control: stop using Progmem.h

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This commit is contained in:
Lucas De Marchi 2015-12-23 11:12:16 -02:00
parent 29ed01189d
commit cfb5bbeb9f
1 changed files with 5 additions and 6 deletions
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11
libraries/APM_Control/AP_AutoTune.cpp
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@ -38,7 +38,6 @@
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <AP_Progmem/AP_Progmem.h>
extern const AP_HAL::HAL& hal;
@ -134,10 +133,10 @@ void AP_AutoTune::start(void)
level = 1;
}
current.rmax.set(pgm_read_float(&tuning_table[level-1].rmax));
current.rmax.set(tuning_table[level-1].rmax);
// D gain is scaled to a fixed ratio of P gain
current.D.set( pgm_read_float(&tuning_table[level-1].Dratio) * current.P);
current.tau.set( pgm_read_float(&tuning_table[level-1].tau));
current.D.set(tuning_table[level-1].Dratio * current.P);
current.tau.set(tuning_table[level-1].tau);
current.imax = constrain_float(current.imax, AUTOTUNE_MIN_IMAX, AUTOTUNE_MAX_IMAX);
@ -221,7 +220,7 @@ void AP_AutoTune::check_state_exit(uint32_t state_time_ms)
}
Debug("UNDER P -> %.3f\n", current.P.get());
}
current.D.set( pgm_read_float(&tuning_table[aparm.autotune_level-1].Dratio) * current.P);
current.D.set(tuning_table[aparm.autotune_level-1].Dratio * current.P);
break;
case DEMAND_OVER_POS:
case DEMAND_OVER_NEG:
@ -232,7 +231,7 @@ void AP_AutoTune::check_state_exit(uint32_t state_time_ms)
}
Debug("OVER P -> %.3f\n", current.P.get());
}
current.D.set( pgm_read_float(&tuning_table[aparm.autotune_level-1].Dratio) * current.P);
current.D.set(tuning_table[aparm.autotune_level-1].Dratio * current.P);
break;
}
}