mirror of https://github.com/ArduPilot/ardupilot
61 lines
1.2 KiB
Plaintext
61 lines
1.2 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 <FastSerial.h>
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#include <avr/pgmspace.h>
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#include <AP_Common.h>
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#include <AP_Param.h>
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#include <AP_Math.h>
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#include <APM_RC.h> // ArduPilot RC Library
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#include <PID.h> // ArduPilot Mega RC Library
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#include <Arduino_Mega_ISR_Registry.h>
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long radio_in;
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long radio_trim;
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Arduino_Mega_ISR_Registry isr_registry;
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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APM_RC_APM2 APM_RC;
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#else
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APM_RC_APM1 APM_RC;
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#endif
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PID pid;
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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(&isr_registry); // 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.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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Serial.printf("P %f I %f D %f imax %f\n", 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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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, 1);
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Serial.print("control: ");
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Serial.println(control,DEC);
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}
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