mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.2 KiB
Plaintext
59 lines
1.2 KiB
Plaintext
/*
|
|
Example of PID library.
|
|
2010 Code by Jason Short. DIYDrones.com
|
|
*/
|
|
|
|
#include <FastSerial.h>
|
|
#include <avr/pgmspace.h>
|
|
#include <AP_Common.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(AP_Var::k_key_none, NULL);
|
|
|
|
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, 20, 1);
|
|
|
|
Serial.print("control: ");
|
|
Serial.println(control,DEC);
|
|
}
|