APMega: Real time change of PID parameters - adaptive control ?

 

Hi All,

 

After reading code and a few forum entries there are several questions that I have regarding the APM code.

 

Can the PID parameters be reset in real time or is this purely a compiler time option, hence requiring a down load and reset ?

 

Are the

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Location of servo drivers in code base ?

Hello All,

 

I am looking for the low level drivers that talk directly to the digital IO for driving the servos. I see references to the drivers in the APM code modules: 

servo_out[CH_ROLL]      = reverse_roll   * (radio_in[CH_ROLL] 

 

and

 

APM_RC.OutputCh

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