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AC_PID: update example for new rc() method

This commit is contained in:
Peter Barker 2018-04-27 18:00:52 +10:00 committed by Randy Mackay
parent f79b4b5d63
commit e2b31a535c
1 changed files with 9 additions and 3 deletions
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12
libraries/AC_PID/examples/AC_PID_test/AC_PID_test.cpp
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@ -44,12 +44,18 @@ void loop()
// display PID gains
hal.console->printf("P %f I %f D %f imax %f\n", (double)pid.kP(), (double)pid.kI(), (double)pid.kD(), (double)pid.imax());
RC_Channel *ch = rc().channel(0);
if (ch == nullptr) {
hal.console->printf("No channel 0?");
return;
}
// capture radio trim
radio_trim = RC_Channels::get_radio_in(0);
radio_trim = ch->get_radio_in();
while (true) {
RC_Channels::read_input(); // poll the radio for new values
radio_in = RC_Channels::get_radio_in(0);
rc().read_input(); // poll the radio for new values
radio_in = ch->get_radio_in();
error = radio_in - radio_trim;
pid.set_input_filter_all(error);
control_P = pid.get_p();