removed EEPROMB references

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1315 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/PID/PID.cpp

@@ -73,15 +73,15 @@ PID::load_gains()
 			// load is a NOP if the gain array is managed externally
 			break;
 		case STORE_EEPROM_UINT16:
-		//	_kp 	= (float)(eeprom_read_word((uint16_t *)	 _address))      / 1000.0;
+			_kp 	= (float)(eeprom_read_word((uint16_t *)	 _address))      / 1000.0;
-		//	_ki 	= (float)(eeprom_read_word((uint16_t *)	(_address + 2))) / 1000.0;
+			_ki 	= (float)(eeprom_read_word((uint16_t *)	(_address + 2))) / 1000.0;
-			//_kd 	= (float)(eeprom_read_word((uint16_t *)	(_address + 4))) / 1000.0;
+			_kd 	= (float)(eeprom_read_word((uint16_t *)	(_address + 4))) / 1000.0;
-			//_imax 	= eeprom_read_word((uint16_t *)	(_address + 6)) * 100;
+			_imax 	= eeprom_read_word((uint16_t *)	(_address + 6)) * 100;
 			
-			_kp 	= (float)_ee.read_int(_address) / 1000.0;
+			//_kp 	= (float)_ee.read_int(_address) / 1000.0;
-			_ki 	= (float)_ee.read_int(_address + 2) / 1000.0;
+			//_ki 	= (float)_ee.read_int(_address + 2) / 1000.0;
-			_kd 	= (float)_ee.read_int(_address + 4) / 1000.0;
+			//_kd 	= (float)_ee.read_int(_address + 4) / 1000.0;
-			_imax 	= (float)_ee.read_int(_address + 6) * 100;
+			//_imax 	= (float)_ee.read_int(_address + 6) * 100;
 
 			break;
 			
@@ -103,16 +103,16 @@ PID::save_gains()
 			// save is a NOP if the gain array is managed externally
 			break;
 		case STORE_EEPROM_UINT16:
-			/*
 			eeprom_write_word((uint16_t *)	 _address, 		(int)(_kp * 1000));
 			eeprom_write_word((uint16_t *)	(_address + 2), (int)(_ki * 1000));
 			eeprom_write_word((uint16_t *)	(_address + 4), (int)(_kd * 1000));
 			eeprom_write_word((uint16_t *)	(_address + 6), (int)_imax/100);
-			*/
+
-			_ee.write_int(_address, 	(int)(_kp * 1000));
+			/*_ee.write_int(_address, 	(int)(_kp * 1000));
 			_ee.write_int(_address + 2, (int)(_ki * 1000));
 			_ee.write_int(_address + 4, (int)(_kd * 1000));
 			_ee.write_int(_address + 6, (int)(_imax /100));
+			*/
 			break;
 		case STORE_EEPROM_FLOAT:
 			//eeprom_write_block((const void *)&_kp,(void *)(_address),sizeof(_kp));

libraries/PID/PID.h

@@ -7,7 +7,6 @@
 #define PID_h
 
 #include <stdint.h>
-#include <AP_EEPROMB.h>
 
 /// @class	PID
 /// @brief	Object managing one PID control
@@ -118,7 +117,6 @@ public:
 	float	get_integrator() 		{ return _integrator; }
 
 private:
-	AP_EEPROMB	_ee;
 	uint16_t	_address;			///< EEPROM address for save/restore of P/I/D
 	float		*_gain_array; 		///< pointer to the gains for this pid