ardupilot/ArduCopterMega/Camera.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if CAMERA_STABILIZER == ENABLED
void init_camera()
{
g.rc_camera_pitch.set_angle(4500);
g.rc_camera_pitch.radio_min = 1000;
g.rc_camera_pitch.radio_trim = 1500;
g.rc_camera_pitch.radio_max = 2000;
g.rc_camera_roll.set_angle(4500);
g.rc_camera_roll.radio_min = 1000;
g.rc_camera_roll.radio_trim = 1500;
g.rc_camera_roll.radio_max = 2000;
}
void
camera_stabilization()
{
// PITCH
// -----
// allow control mixing
g.rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
g.rc_camera_pitch.servo_out = g.rc_camera_pitch.control_mix(-dcm.pitch_sensor);
// dont allow control mixing
/*
g.rc_camera_pitch.servo_out = dcm.pitch_sensor * -1;
*/
// ROLL
// -----
// allow control mixing
/*
g.rc_camera_roll.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
g.rc_camera_roll.servo_out = g.rc_camera_roll.control_mix(-dcm.roll_sensor);
*/
// dont allow control mixing
g.rc_camera_roll.servo_out = -dcm.roll_sensor;
// Output
// ------
g.rc_camera_pitch.calc_pwm();
g.rc_camera_roll.calc_pwm();
APM_RC.OutputCh(CH_5, g.rc_camera_pitch.radio_out);
APM_RC.OutputCh(CH_6, g.rc_camera_roll.radio_out);
}
#endif