适应新的pid API (0f5c6dc8) · Commits · Wenxi XU / Mambo

drivers/motor/mi/motor_mi.c

+4 −3

Original line number	Diff line number	Diff line
		@@ -230,11 +230,12 @@ int mi_motor_set_mode(const struct device *dev, enum motor_mode mode)
		break;
		}
		if (strcmp(cfg->common.capabilities[i], mode_str) == 0) {
		const struct pid_config *params = pid_get_params(cfg->common.pid_datas[i]);
		struct pid_config params;
		pid_get_params(cfg->common.pid_datas[i], &params);

		data->common.mode = mode;
		data->params.k_p = params->k_p;
		data->params.k_d = params->k_d;
		data->params.k_p = params.k_p;
		data->params.k_d = params.k_d;
		break;
		}
		}