mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-09 01:18:29 -04:00
e925820d90
This commit changes the way libraries headers are included in source files: - If the header is in the same directory the source belongs to, so the notation '#include ""' is used with the path relative to the directory containing the source. - If the header is outside the directory containing the source, then we use the notation '#include <>' with the path relative to libraries folder. Some of the advantages of such approach: - Only one search path for libraries headers. - OSs like Windows may have a better lookup time.
60 lines
1.2 KiB
C++
60 lines
1.2 KiB
C++
/*
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* Example of PID library.
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* 2010 Code by Jason Short. DIYDrones.com
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Progmem/AP_Progmem.h>
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#include <AP_Param/AP_Param.h>
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#include <StorageManager/StorageManager.h>
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#include <AP_Math/AP_Math.h>
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#include <PID/PID.h> // ArduPilot Mega RC Library
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#include <AP_HAL_AVR/AP_HAL_AVR.h>
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#include <AP_HAL_SITL/AP_HAL_SITL.h>
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#include <AP_HAL_Empty/AP_HAL_Empty.h>
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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long radio_in;
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long radio_trim;
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PID pid;
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void setup()
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{
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hal.console->println("ArduPilot Mega PID library test");
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hal.scheduler->delay(1000);
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//rc.trim();
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radio_trim = hal.rcin->read(0);
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pid.kP(1);
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pid.kI(0);
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pid.kD(0.5f);
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pid.imax(50);
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pid.save_gains();
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pid.kP(0);
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pid.kI(0);
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pid.kD(0);
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pid.imax(0);
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pid.load_gains();
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hal.console->printf_P(
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PSTR("P %f I %f D %f imax %f\n"),
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pid.kP(), pid.kI(), pid.kD(), pid.imax());
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}
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void loop()
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{
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hal.scheduler->delay(20);
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//rc.read_pwm();
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long error = hal.rcin->read(0) - radio_trim;
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long control= pid.get_pid(error, 1);
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hal.console->print("control: ");
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hal.console->println(control,BASE_DEC);
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}
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AP_HAL_MAIN();
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