/*
	Example of PID library.
	2010 Code by Jason Short. DIYDrones.com
*/

#include <FastSerial.h>
#include <avr/pgmspace.h>
#include <AP_Common.h>
#include <AP_Math.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;

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;

void setup()
{
	Serial.begin(38400);
	Serial.println("ArduPilot Mega PID library test");
	APM_RC.Init(&isr_registry);		// APM Radio initialization

	delay(1000);
	//rc.trim();
	radio_trim = APM_RC.InputCh(0);

	pid.kP(1);
	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());
}

void loop()
{
	delay(20);
	//rc.read_pwm();
	long error 		= APM_RC.InputCh(0) - radio_trim;
	long control 	= pid.get_pid(error, 1);

	Serial.print("control: ");
	Serial.println(control,DEC);
}