ardupilot/ArduCopterMega/Camera.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
void init_camera()
{
g.rc_camera_pitch.set_angle(4500);
g.rc_camera_pitch.radio_min = g.rc_6.radio_min;
g.rc_camera_pitch.radio_trim = g.rc_6.radio_trim;
g.rc_camera_pitch.radio_max = g.rc_6.radio_max;
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()
{
g.rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
// allow control mixing
//g.rc_camera_pitch.servo_out = g.rc_camera_pitch.control_mix(dcm.pitch_sensor / 2);
// dont allow control mixing
g.rc_camera_pitch.servo_out = dcm.pitch_sensor / 2;
g.rc_camera_pitch.calc_pwm();
APM_RC.OutputCh(CH_5, g.rc_camera_pitch.radio_out);
g.rc_camera_roll.servo_out = dcm.roll_sensor;
g.rc_camera_roll.calc_pwm();
APM_RC.OutputCh(CH_6, g.rc_camera_roll.radio_out);
//If you want to do control mixing use this function.
// set servo_out to the control input from radio
//rc_camera_roll = g.rc_2.control_mix(dcm.pitch_sensor);
//rc_camera_roll.calc_pwm();
}