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AC_PID: avoid use of uninitialised stack data in example

This commit is contained in:
Peter Barker 2024-02-23 12:17:44 +11:00 committed by Randy Mackay
parent d92acaffce
commit f0616b1b84
1 changed files with 7 additions and 7 deletions
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14
libraries/AC_PID/examples/AC_PID_test/AC_PID_test.cpp
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@ -70,11 +70,11 @@ void setup()
void loop()
{
// setup (unfortunately must be done here as we cannot create a global AC_PID object)
AC_PID pid(TEST_P, TEST_I, TEST_D, 0.0f, TEST_IMAX * 100.0f, 0.0f, 0.0f, TEST_FILTER);
AC_HELI_PID heli_pid(TEST_P, TEST_I, TEST_D, TEST_INITIAL_FF, TEST_IMAX * 100, 0.0f, 0.0f, TEST_FILTER);
AC_PID *pid = new AC_PID(TEST_P, TEST_I, TEST_D, 0.0f, TEST_IMAX * 100.0f, 0.0f, 0.0f, TEST_FILTER);
// AC_HELI_PID *heli_pid= new AC_HELI_PID(TEST_P, TEST_I, TEST_D, TEST_INITIAL_FF, TEST_IMAX * 100, 0.0f, 0.0f, TEST_FILTER);
// 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());
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 *c = rc().channel(0);
if (c == nullptr) {
@ -91,10 +91,10 @@ void loop()
rc().read_input(); // poll the radio for new values
const uint16_t radio_in = c->get_radio_in();
const int16_t error = radio_in - radio_trim;
pid.update_error(error, TEST_DT);
const float control_P = pid.get_p();
const float control_I = pid.get_i();
const float control_D = pid.get_d();
pid->update_error(error, TEST_DT);
const float control_P = pid->get_p();
const float control_I = pid->get_i();
const float control_D = pid->get_d();
// display pid results
hal.console->printf("radio: %d\t err: %d\t pid:%4.2f (p:%4.2f i:%4.2f d:%4.2f)\n",