mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.1 KiB
Plaintext
59 lines
1.1 KiB
Plaintext
/*
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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.h>
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#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_Param.h>
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#include <AP_Math.h>
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#include <PID.h> // ArduPilot Mega RC Library
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#include <AP_HAL_AVR.h>
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#include <AP_HAL_AVR_SITL.h>
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#include <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(0.5);
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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,DEC);
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}
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AP_HAL_MAIN();
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