From 278e215a211796503aab489199f9e5faa049c45c Mon Sep 17 00:00:00 2001
From: Adam M Rivera <a432511@gmail.com>
Date: Wed, 4 Jul 2012 21:06:21 -0500
Subject: [PATCH] Parameters: Added flag for camera pitch/roll servos
 (continuous or regular)

---
 ArduCopter/Parameters.h   | 6 ++++++
 ArduCopter/Parameters.pde | 8 +++++---
 ArduCopter/config.h       | 9 +++++++++
 3 files changed, 20 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 71738a77e3..da472a1f65 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -141,6 +141,8 @@ public:
 	k_param_camera_pitch_gain,
 	k_param_camera_roll_gain,
     k_param_rc_speed,
+	k_param_camera_pitch_continuous,
+	k_param_camera_roll_continuous,
 
     //
     // 200: flight modes
@@ -286,6 +288,8 @@ public:
 
 	AP_Float	camera_pitch_gain;
 	AP_Float	camera_roll_gain;
+	AP_Int8		camera_pitch_continuous;
+	AP_Int8		camera_roll_continuous;
 	AP_Float	stabilize_d;
 	AP_Float	stabilize_d_schedule;
 
@@ -382,6 +386,8 @@ public:
 
 	camera_pitch_gain 		(CAM_PITCH_GAIN),
 	camera_roll_gain 		(CAM_ROLL_GAIN),
+	camera_pitch_continuous	(CAM_PITCH_CONTINUOUS),
+	camera_roll_continuous	(CAM_ROLL_CONTINUOUS),
 	stabilize_d 			(STABILIZE_D),
 	stabilize_d_schedule	(STABILIZE_D_SCHEDULE),
 	acro_p					(ACRO_P),
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index d1a6987692..bff8a8c67d 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -166,9 +166,11 @@ static const AP_Param::Info var_info[] PROGMEM = {
 
 	// variable
 	//---------
-	GSCALAR(camera_pitch_gain, 	"CAM_P_G"),
-	GSCALAR(camera_roll_gain, 	"CAM_R_G"),
-	GSCALAR(stabilize_d, 		"STAB_D"),
+	GSCALAR(camera_pitch_gain,		"CAM_P_G"),
+	GSCALAR(camera_roll_gain, 		"CAM_R_G"),
+	GSCALAR(camera_pitch_continuous,"CAM_P_CONT"),
+	GSCALAR(camera_roll_continuous,	"CAM_R_CONT"),
+	GSCALAR(stabilize_d, 			"STAB_D"),
 
 	// @Param: STAB_D_S
 	// @DisplayName: Stabilize D Schedule
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index e1026d5e8d..624044deb4 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -354,6 +354,15 @@
 # define CAM_PITCH_GAIN			1.0
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+//  CAMERA SERVO TYPE
+#ifndef CAM_PITCH_CONTINUOUS
+# define CAM_PITCH_CONTINUOUS           0
+#endif
+#ifndef CAM_ROLL_CONTINUOUS
+# define CAM_ROLL_CONTINUOUS            0
+#endif
+
 
 //////////////////////////////////////////////////////////////////////////////
 //  OPTICAL_FLOW