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https://github.com/ArduPilot/ardupilot
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@742 f9c3cf11-9bcb-44bc-f272-b75c42450872
38 lines
704 B
Plaintext
38 lines
704 B
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 <PID.h> // ArduPilot Mega RC Library
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#include <APM_RC.h> // ArduPilot RC Library
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PID pid;
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long radio_in;
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long radio_trim;
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void setup()
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{
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Serial.begin(38400);
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Serial.println("ArduPilot Mega PID library test");
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APM_RC.Init(); // APM Radio initialization
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delay(1000);
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//rc.trim();
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radio_trim = APM_RC.InputCh(0);
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pid.set_P(1);
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pid.set_I(0);
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pid.set_D(.5);
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pid.set_imax(50);
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}
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void loop()
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{
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delay(20);
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//rc.read_pwm();
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long error = APM_RC.InputCh(0) - radio_trim;
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long control = pid.get_pid(error, 20, 1);
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Serial.print("control: ");
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Serial.println(control,DEC);
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} |