diff --git a/libraries/AP_PID/examples/AP_pid/AP_pid.pde b/libraries/AP_PID/examples/AP_pid/AP_pid.pde index ca46f3d6db08ea8ef088c19b77dbc22aaddb2595..5d7cf59df4a6a13f2068536b171d89a6662a53ff 100644 --- a/libraries/AP_PID/examples/AP_pid/AP_pid.pde +++ b/libraries/AP_PID/examples/AP_pid/AP_pid.pde @@ -3,21 +3,26 @@ 2010 Code by Jason Short. DIYDrones.com */ +#include <Arduino_Mega_ISR_Registry.h> #include <FastSerial.h> #include <AP_Common.h> #include <APM_RC.h> // ArduPilot RC Library -#include <PID.h> // ArduPilot Mega RC Library +#include <AP_PID.h> // ArduPilot Mega RC Library long radio_in; long radio_trim; -PID pid(); +Arduino_Mega_ISR_Registry isr_registry; +AP_PID pid; +APM_RC_APM1 APM_RC; void setup() { - Serial.begin(38400); - Serial.println("ArduPilot Mega PID library test"); - APM_RC.Init(); // APM Radio initialization + Serial.begin(115200); + Serial.println("ArduPilot Mega AP_PID library test"); + + isr_registry.init(); + APM_RC.Init(&isr_registry); // APM Radio initialization delay(1000); //rc.trim(); @@ -27,12 +32,10 @@ void setup() 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()); } diff --git a/libraries/AP_RC_Channel/AP_RC_Channel.cpp b/libraries/AP_RC_Channel/AP_RC_Channel.cpp index eea2e91b338e25a16767aef487711e6d68d0ad76..af9365dd840262814c5df93a8775a38e865536db 100644 --- a/libraries/AP_RC_Channel/AP_RC_Channel.cpp +++ b/libraries/AP_RC_Channel/AP_RC_Channel.cpp @@ -88,11 +88,14 @@ AP_RC_Channel::set_pwm(int pwm) control_in = pwm_to_angle(); control_in = (abs(control_in) < dead_zone) ? 0 : control_in; + /* + // coming soon ?? if(expo) { long temp = control_in; temp = (temp * temp) / (long)_high; control_in = (int)((control_in >= 0) ? temp : -temp); } + */ } } diff --git a/libraries/AP_RC_Channel/examples/AP_RC_Channel/AP_RC_Channel.pde b/libraries/AP_RC_Channel/examples/AP_RC_Channel/AP_RC_Channel.pde index f636c37aa1b03ecc4b2bb189402d4fa345bbc6d9..a7de6e0fd4f525817d4840a7e3db410fdc78b42d 100644 --- a/libraries/AP_RC_Channel/examples/AP_RC_Channel/AP_RC_Channel.pde +++ b/libraries/AP_RC_Channel/examples/AP_RC_Channel/AP_RC_Channel.pde @@ -29,7 +29,6 @@ AP_RC rc; void setup() { Serial.begin(115200); - //Serial.begin(38400); Serial.println("ArduPilot RC Channel test"); rc.init(); // APM Radio initialization diff --git a/libraries/FastSerial/examples/FastSerial/FastSerial.pde b/libraries/FastSerial/examples/FastSerial/FastSerial.pde index 4a9ae94b513801c7e5900a4a288904aa651a44e6..a1af76523353b24f8a69d993b16d1d073ea45023 100644 --- a/libraries/FastSerial/examples/FastSerial/FastSerial.pde +++ b/libraries/FastSerial/examples/FastSerial/FastSerial.pde @@ -17,8 +17,9 @@ #undef PROGMEM #define PROGMEM __attribute__(( section(".progmem.data") )) -#undef PSTR -#define PSTR(s) (__extension__({static prog_char __c[] PROGMEM = (s); &__c[0];})) +# undef PSTR +# define PSTR(s) (__extension__({static prog_char __c[] PROGMEM = (s); \ + (prog_char_t *)&__c[0];})) // // Create a FastSerial driver that looks just like the stock Arduino @@ -38,7 +39,7 @@ void setup(void) // // Set the speed for our replacement serial port. // - Serial.begin(38400); + Serial.begin(115200); // // Test printing things