Merge branch 'ArduPilot:master' into raw_IMU_hz

.github/workflows/esp32_build.yml

@@ -175,6 +175,7 @@ jobs:
       - name: Install Prerequisites
         shell: bash
         run: |
+          sudo apt-get update
           sudo apt-get install git wget libncurses-dev flex bison gperf python3 python3-pip python3-venv python3-setuptools python3-serial python3-gevent python3-cryptography python3-future python3-pyparsing python3-pyelftools cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0
           sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 10
           update-alternatives --query python

AntennaTracker/version.h

@@ -6,13 +6,13 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "AntennaTracker V4.5.0-dev"
+#define THISFIRMWARE "AntennaTracker V4.6.0-dev"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,0,FIRMWARE_VERSION_TYPE_DEV
+#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_DEV
 
 #define FW_MAJOR 4
-#define FW_MINOR 5
+#define FW_MINOR 6
 #define FW_PATCH 0
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 

ArduPlane/quadplane.cpp

@@ -529,6 +529,15 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
     // @User: Standard
     AP_GROUPINFO("FWD_THR_USE", 37, QuadPlane, q_fwd_thr_use, uint8_t(FwdThrUse::OFF)),
 
+    // @Param: BCK_PIT_LIM
+    // @DisplayName: Q mode rearward pitch limit
+    // @Description: This sets the maximum number of degrees of back or pitch up in Q modes when the airspeed is at AIRSPEED_MIN, and is used to prevent excessive sutructural loads when pitching up decelerate. If airspeed is above or below AIRSPEED_MIN, the pitch up/back will be adjusted according to the formula pitch_limit = Q_BCK_PIT_LIM * (AIRSPEED_MIN / IAS)^2. The backwards/up pitch limit controlled by this parameter is in addition to limiting applied by PTCH_LIM_MAX_DEG and Q_ANGLE_MAX. The BCK_PIT_LIM limit is only applied when Q_FWD_THR_USE is set to 1 or 2 and the vehicle is flying in a mode that uses forward throttle instead of forward tilt to generate forward speed. Set to a non positive value 0 to deactivate this limit.
+    // @Units: deg
+    // @Range: 0.0 15.0
+    // @Increment: 0.1
+    // @User: Standard
+    AP_GROUPINFO("BCK_PIT_LIM", 38, QuadPlane, q_bck_pitch_lim, 10.0f),
+
     AP_GROUPEND
 };
 
@@ -3016,21 +3025,55 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
     q_fwd_throttle = MIN(q_fwd_thr_gain * tanf(fwd_tilt_rad), 1.0f);
 
     // Relax forward tilt limit if the position controller is saturating in the forward direction because
-    // the forward thrust motor could be failed
-    const float fwd_tilt_range_cd = (float)aparm.angle_max - 100.0f * q_fwd_pitch_lim;
-    if (is_positive(fwd_tilt_range_cd)) {
-        // rate limit the forward tilt change to slew between the motor good and motor failed
-        // value over 10 seconds
-        const bool fwd_limited = plane.quadplane.pos_control->is_active_xy() and plane.quadplane.pos_control->get_fwd_pitch_is_limited();
-        const float fwd_pitch_lim_cd_tgt = fwd_limited ? (float)aparm.angle_max : 100.0f * q_fwd_pitch_lim;
-        const float delta_max = 0.1f * fwd_tilt_range_cd * plane.G_Dt;
-        q_fwd_pitch_lim_cd += constrain_float((fwd_pitch_lim_cd_tgt - q_fwd_pitch_lim_cd), -delta_max, delta_max);
-        // Don't let the forward pitch limit be more than the forward pitch demand before limiting to
-        // avoid opening up the limit more than necessary
-        q_fwd_pitch_lim_cd = MIN(q_fwd_pitch_lim_cd, MAX(-(float)plane.nav_pitch_cd, 100.0f * q_fwd_pitch_lim));
-    } else {
-        // take the lesser of the two limits
-        q_fwd_pitch_lim_cd = (float)aparm.angle_max;
+    // the forward thrust motor could be failed. Do not do this with tilt rotors because they do not rely on
+    // forward throttle during VTOL flight
+    if (!tiltrotor.enabled()) {
+        const float fwd_tilt_range_cd = (float)aparm.angle_max - 100.0f * q_fwd_pitch_lim;
+        if (is_positive(fwd_tilt_range_cd)) {
+            // rate limit the forward tilt change to slew between the motor good and motor failed
+            // value over 10 seconds
+            const bool fwd_limited = plane.quadplane.pos_control->is_active_xy() and plane.quadplane.pos_control->get_fwd_pitch_is_limited();
+            const float fwd_pitch_lim_cd_tgt = fwd_limited ? (float)aparm.angle_max : 100.0f * q_fwd_pitch_lim;
+            const float delta_max = 0.1f * fwd_tilt_range_cd * plane.G_Dt;
+            q_fwd_pitch_lim_cd += constrain_float((fwd_pitch_lim_cd_tgt - q_fwd_pitch_lim_cd), -delta_max, delta_max);
+            // Don't let the forward pitch limit be more than the forward pitch demand before limiting to
+            // avoid opening up the limit more than necessary
+            q_fwd_pitch_lim_cd = MIN(q_fwd_pitch_lim_cd, MAX(-(float)plane.nav_pitch_cd, 100.0f * q_fwd_pitch_lim));
+        } else {
+            // take the lesser of the two limits
+            q_fwd_pitch_lim_cd = (float)aparm.angle_max;
+        }
+    }
+
+    // Prevent the wing from being overloaded when braking from high speed in a VTOL mode
+    float nav_pitch_upper_limit_cd = 100.0f * q_bck_pitch_lim;
+    float aspeed;
+    if (is_positive(q_bck_pitch_lim) && ahrs.airspeed_estimate(aspeed)) {
+        const float reference_speed = MAX(plane.aparm.airspeed_min, MIN_AIRSPEED_MIN);
+        float speed_scaler = sq(reference_speed / MAX(aspeed, 0.1f));
+        nav_pitch_upper_limit_cd *= speed_scaler;
+        nav_pitch_upper_limit_cd = MIN(nav_pitch_upper_limit_cd, (float)aparm.angle_max);
+
+        const float tconst = 0.5f;
+        const float dt = AP_HAL::millis() - q_pitch_limit_update_ms;
+        q_pitch_limit_update_ms = AP_HAL::millis();
+        if (is_positive(dt)) {
+            const float coef = dt / (dt + tconst);
+            q_bck_pitch_lim_cd = (1.0f - coef) * q_bck_pitch_lim_cd + coef * nav_pitch_upper_limit_cd;
+        }
+
+        plane.nav_pitch_cd = MIN(plane.nav_pitch_cd, (int32_t)q_bck_pitch_lim_cd);
+
+#if HAL_LOGGING_ENABLED
+        AP::logger().WriteStreaming("QBRK",
+                                "TimeUS,SpdScaler,NPULCD,QBPLCD,NPCD",  // labels
+                                "Qffii",    // fmt
+                                AP_HAL::micros64(),
+                                (double)speed_scaler,
+                                (double)nav_pitch_upper_limit_cd,
+                                (int32_t)q_bck_pitch_lim_cd,
+                                (int32_t)plane.nav_pitch_cd);
+#endif
     }
 
     float fwd_thr_scaler;
@@ -3054,14 +3097,15 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
 #if HAL_LOGGING_ENABLED
     // Diagnostics logging - remove when feature is fully flight tested.
     AP::logger().WriteStreaming("FWDT",
-                                "TimeUS,fts,qfplcd,npllcd,npcd,qft",  // labels
-                                "Qfffff",    // fmt
+                                "TimeUS,fts,qfplcd,npllcd,npcd,qft,npulcd",  // labels
+                                "Qffffff",    // fmt
                                 AP_HAL::micros64(),
                                 (double)fwd_thr_scaler,
                                 (double)q_fwd_pitch_lim_cd,
                                 (double)nav_pitch_lower_limit_cd,
                                 (double)plane.nav_pitch_cd,
-                                (double)q_fwd_throttle);
+                                (double)q_fwd_throttle,
+                                (float)nav_pitch_upper_limit_cd);
 #endif
 
     plane.nav_pitch_cd = MAX(plane.nav_pitch_cd, (int32_t)nav_pitch_lower_limit_cd);

ArduPlane/quadplane.h

@@ -403,6 +403,9 @@ class QuadPlane
     // limit applied to forward pitch to prevent wing producing negative lift
     AP_Float q_fwd_pitch_lim;
 
+    // limit applied to back pitch to prevent wing producing excessive lift
+    AP_Float q_bck_pitch_lim;
+
     // which fwd throttle handling method is active
     enum class ActiveFwdThr : uint8_t {
         NONE = 0,
@@ -441,6 +444,8 @@ class QuadPlane
 
     float q_fwd_throttle; // forward throttle used in q modes
     float q_fwd_pitch_lim_cd; // forward pitch limit applied when using q_fwd_throttle
+    float q_bck_pitch_lim_cd; // backward pitch limit applied when using Q_BCK_PIT_LIM
+    uint32_t q_pitch_limit_update_ms; // last time the backward pitch limit was updated
 
     // when did we last run the attitude controller?
     uint32_t last_att_control_ms;

Tools/AP_Periph/ReleaseNotes.txt

@@ -1,3 +1,18 @@
+Release 1.7.0 26th February 2023
+--------------------------------
+
+This is a major AP_Periph release with the following key changes:
+
+- fixed DroneCAN packet parsing bug when dealing with corrupt packets
+- added BATT_HIDE_MASK parameter
+- support IPv4 networking in AP_Periph and PPP gateway
+- support per-cell battery monitoring
+- rate limit EFI updates
+- support serial tunnelling over DroneCAN
+- support relays over DroneCAN via hardpoint messages
+- support mapping MAVLink SEND_TEXT to DroneCAN debug levels
+- fixed CANFD timings
+
 Release 1.6.0 8th September 2023
 --------------------------------
 

Tools/AP_Periph/version.h

@@ -7,7 +7,7 @@
 #include "ap_version.h"
 #include <AP_HAL/AP_HAL.h>
 
-#define THISFIRMWARE "AP_Periph V1.7.0-dev"
+#define THISFIRMWARE "AP_Periph V1.8.0-dev"
 
 // defines needed due to lack of GCS includes
 #ifndef HAVE_ENUM_FIRMWARE_VERSION_TYPE
@@ -17,10 +17,10 @@
 #endif
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 1,7,0,FIRMWARE_VERSION_TYPE_DEV
+#define FIRMWARE_VERSION 1,8,0,FIRMWARE_VERSION_TYPE_DEV
 
 #define FW_MAJOR 1
-#define FW_MINOR 7
+#define FW_MINOR 8
 #define FW_PATCH 0
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 

Tools/ardupilotwaf/ap_library.py

@@ -52,7 +52,7 @@ def _vehicle_index(vehicle):
     return _vehicle_indexes[vehicle]
 
 # note that AP_NavEKF3_core.h is needed for AP_NavEKF3_feature.h
-_vehicle_macros = ['SKETCHNAME', 'SKETCH', 'APM_BUILD_DIRECTORY',
+_vehicle_macros = ['APM_BUILD_DIRECTORY', 'AP_BUILD_TARGET_NAME',
                    'APM_BUILD_TYPE', 'APM_BUILD_COPTER_OR_HELI',
                    'AP_NavEKF3_core.h', 'lua_generated_bindings.h']
 _macros_re = re.compile(r'\b(%s)\b' % '|'.join(_vehicle_macros))

Tools/ardupilotwaf/ardupilotwaf.py

@@ -125,14 +125,12 @@ def get_legacy_defines(sketch_name, bld):
     if bld.cmd == 'heli' or 'heli' in bld.targets:
         return [
         'APM_BUILD_DIRECTORY=APM_BUILD_Heli',
-        'SKETCH="' + sketch_name + '"',
-        'SKETCHNAME="' + sketch_name + '"',
+        'AP_BUILD_TARGET_NAME="' + sketch_name + '"',
         ]
 
     return [
         'APM_BUILD_DIRECTORY=APM_BUILD_' + sketch_name,
-        'SKETCH="' + sketch_name + '"',
-        'SKETCHNAME="' + sketch_name + '"',
+        'AP_BUILD_TARGET_NAME="' + sketch_name + '"',
     ]
 
 IGNORED_AP_LIBRARIES = [

Tools/autotest/vehicle_test_suite.py

@@ -7966,7 +7966,7 @@ def statustext_in_collections(self, text, regex=False):
         if "STATUSTEXT" not in c.collections:
             raise NotAchievedException("Asked to check context but it isn't collecting!")
         for x in c.collections["STATUSTEXT"]:
-            self.progress("  statustext=%s vs text=%s" % (x.text, text))
+            self.progress("  statustext want=(%s) got=(%s)" % (x.text, text))
             if regex:
                 if re.match(text, x.text):
                     return x

libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h

@@ -19,8 +19,8 @@
 #ifndef AC_ATC_MULTI_RATE_RP_IMAX
  # define AC_ATC_MULTI_RATE_RP_IMAX         0.5f
 #endif
-#ifndef AC_ATC_MULTI_RATE_RP_FILT_HZ
- # define AC_ATC_MULTI_RATE_RP_FILT_HZ      20.0f
+#ifndef AC_ATC_MULTI_RATE_RPY_FILT_HZ
+ # define AC_ATC_MULTI_RATE_RPY_FILT_HZ      20.0f
 #endif
 #ifndef AC_ATC_MULTI_RATE_YAW_P
  # define AC_ATC_MULTI_RATE_YAW_P           0.180f
@@ -106,9 +106,9 @@ class AC_AttitudeControl_Multi : public AC_AttitudeControl {
             .d         = AC_ATC_MULTI_RATE_RP_D,
             .ff        = 0.0f,
             .imax      = AC_ATC_MULTI_RATE_RP_IMAX,
-            .filt_T_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
+            .filt_T_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
             .filt_E_hz = 0.0f,
-            .filt_D_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
+            .filt_D_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
             .srmax     = 0,
             .srtau     = 1.0
         }
@@ -120,9 +120,9 @@ class AC_AttitudeControl_Multi : public AC_AttitudeControl {
             .d         = AC_ATC_MULTI_RATE_RP_D,
             .ff        = 0.0f,
             .imax      = AC_ATC_MULTI_RATE_RP_IMAX,
-            .filt_T_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
+            .filt_T_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
             .filt_E_hz = 0.0f,
-            .filt_D_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
+            .filt_D_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
             .srmax     = 0,
             .srtau     = 1.0
         }
@@ -135,9 +135,9 @@ class AC_AttitudeControl_Multi : public AC_AttitudeControl {
             .d         = AC_ATC_MULTI_RATE_YAW_D,
             .ff        = 0.0f,
             .imax      = AC_ATC_MULTI_RATE_YAW_IMAX,
-            .filt_T_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
+            .filt_T_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
             .filt_E_hz = AC_ATC_MULTI_RATE_YAW_FILT_HZ,
-            .filt_D_hz = 0.0f,
+            .filt_D_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
             .srmax     = 0,
             .srtau     = 1.0
         }

libraries/AC_CustomControl/AC_CustomControl_PID.cpp

@@ -323,9 +323,9 @@ AC_CustomControl_PID::AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_V
     _p_angle_roll2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
     _p_angle_pitch2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
     _p_angle_yaw2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
-    _pid_atti_rate_roll(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f),
-    _pid_atti_rate_pitch(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f),
-    _pid_atti_rate_yaw(AC_ATC_MULTI_RATE_YAW_P * 0.90f, AC_ATC_MULTI_RATE_YAW_I * 0.90f, AC_ATC_MULTI_RATE_YAW_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, AC_ATC_MULTI_RATE_YAW_FILT_HZ * 0.90f, 0.0f)
+    _pid_atti_rate_roll(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f),
+    _pid_atti_rate_pitch(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f),
+    _pid_atti_rate_yaw(AC_ATC_MULTI_RATE_YAW_P * 0.90f, AC_ATC_MULTI_RATE_YAW_I * 0.90f, AC_ATC_MULTI_RATE_YAW_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, AC_ATC_MULTI_RATE_YAW_FILT_HZ * 0.90f, 0.0f)
 {
     _dt = dt;
     AP_Param::setup_object_defaults(this, var_info);

libraries/AC_CustomControl/README.md

@@ -243,9 +243,9 @@ AC_CustomControl_PID::AC_CustomControl_PID(AC_CustomControl &frontend, AP_AHRS_V
     _p_angle_roll2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
     _p_angle_pitch2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
     _p_angle_yaw2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
-    _pid_atti_rate_roll(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, dt),
-    _pid_atti_rate_pitch(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, dt),
-    _pid_atti_rate_yaw(AC_ATC_MULTI_RATE_YAW_P * 0.90f, AC_ATC_MULTI_RATE_YAW_I * 0.90f, AC_ATC_MULTI_RATE_YAW_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, AC_ATC_MULTI_RATE_YAW_FILT_HZ * 0.90f, 0.0f, dt)
+    _pid_atti_rate_roll(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, dt),
+    _pid_atti_rate_pitch(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, dt),
+    _pid_atti_rate_yaw(AC_ATC_MULTI_RATE_YAW_P * 0.90f, AC_ATC_MULTI_RATE_YAW_I * 0.90f, AC_ATC_MULTI_RATE_YAW_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, AC_ATC_MULTI_RATE_YAW_FILT_HZ * 0.90f, 0.0f, dt)
 {
     AP_Param::setup_object_defaults(this, var_info);
 }

libraries/AC_PID/examples/AC_PID_test/AC_PID_test.cpp

@@ -70,11 +70,11 @@ void setup()
 void loop()
 {
     // setup (unfortunately must be done here as we cannot create a global AC_PID object)
-    AC_PID pid(TEST_P, TEST_I, TEST_D, 0.0f, TEST_IMAX * 100.0f, 0.0f, 0.0f, TEST_FILTER);
-    AC_HELI_PID heli_pid(TEST_P, TEST_I, TEST_D, TEST_INITIAL_FF, TEST_IMAX * 100, 0.0f, 0.0f, TEST_FILTER);
+    AC_PID *pid = new AC_PID(TEST_P, TEST_I, TEST_D, 0.0f, TEST_IMAX * 100.0f, 0.0f, 0.0f, TEST_FILTER);
+    // AC_HELI_PID *heli_pid= new AC_HELI_PID(TEST_P, TEST_I, TEST_D, TEST_INITIAL_FF, TEST_IMAX * 100, 0.0f, 0.0f, TEST_FILTER);
 
     // display PID gains
-    hal.console->printf("P %f  I %f  D %f  imax %f\n", (double)pid.kP(), (double)pid.kI(), (double)pid.kD(), (double)pid.imax());
+    hal.console->printf("P %f  I %f  D %f  imax %f\n", (double)pid->kP(), (double)pid->kI(), (double)pid->kD(), (double)pid->imax());
 
     RC_Channel *c = rc().channel(0);
     if (c == nullptr) {
@@ -91,10 +91,10 @@ void loop()
         rc().read_input(); // poll the radio for new values
         const uint16_t radio_in = c->get_radio_in();
         const int16_t error = radio_in - radio_trim;
-        pid.update_error(error, TEST_DT);
-        const float control_P = pid.get_p();
-        const float control_I = pid.get_i();
-        const float control_D = pid.get_d();
+        pid->update_error(error, TEST_DT);
+        const float control_P = pid->get_p();
+        const float control_I = pid->get_i();
+        const float control_D = pid->get_d();
 
         // display pid results
         hal.console->printf("radio: %d\t err: %d\t pid:%4.2f (p:%4.2f i:%4.2f d:%4.2f)\n",