mirror of https://github.com/ArduPilot/ardupilot
ArduCopter: reverted channel 5~8 to be regular RC_Channel objects, restored rc_camera_roll and rc_camera_pitch RC_Channels and created new rc_camera_yaw RC_Channel to control the camera mount servos.
Defined camera_mount (MNT_) in Parameters.h and Parameters.pde so that it appears in global parameters list. Removed unused camera_*_gain and camaera_*_continuous parameters.
This commit is contained in:
rmackay9
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793fb7f059
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29b6ec0b11
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@ -122,9 +122,10 @@ public:
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//
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// Camera parameters
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// Camera and mount parameters
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//
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k_param_camera,
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k_param_camera = 165,
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k_param_camera_mount,
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//
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// 170: Radio settings
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@ -137,8 +138,8 @@ public:
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k_param_rc_6,
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k_param_rc_7,
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k_param_rc_8,
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k_param_rc_9,
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k_param_rc_10,
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k_param_rc_camera_pitch,
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k_param_rc_camera_roll,
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k_param_throttle_min,
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k_param_throttle_max,
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k_param_throttle_fs_enabled,
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@ -149,11 +150,8 @@ public:
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k_param_radio_tuning,
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k_param_radio_tuning_high,
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k_param_radio_tuning_low,
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k_param_camera_pitch_gain,
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k_param_camera_roll_gain,
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k_param_rc_speed,
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k_param_camera_pitch_continuous,
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k_param_camera_roll_continuous,
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k_param_rc_speed = 192,
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k_param_rc_camera_yaw = 193,
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//
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// 200: flight modes
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@ -296,18 +294,18 @@ public:
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RC_Channel rc_2;
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RC_Channel rc_3;
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RC_Channel rc_4;
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RC_Channel_aux rc_5;
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RC_Channel_aux rc_6;
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RC_Channel_aux rc_7;
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RC_Channel_aux rc_8;
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RC_Channel_aux rc_9;
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RC_Channel_aux rc_10;
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RC_Channel rc_5;
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RC_Channel rc_6;
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RC_Channel rc_7;
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RC_Channel rc_8;
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#if MOUNT == ENABLED
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RC_Channel_aux rc_camera_roll;
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RC_Channel_aux rc_camera_pitch;
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RC_Channel_aux rc_camera_yaw;
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#endif
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AP_Int16 rc_speed; // speed of fast RC Channels in Hz
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AP_Float camera_pitch_gain;
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AP_Float camera_roll_gain;
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AP_Int8 camera_pitch_continuous;
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AP_Int8 camera_roll_continuous;
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AP_Float stabilize_d;
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AP_Float stabilize_d_schedule;
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@ -402,10 +400,6 @@ public:
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rc_speed(RC_FAST_SPEED),
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camera_pitch_gain (CAM_PITCH_GAIN),
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camera_roll_gain (CAM_ROLL_GAIN),
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camera_pitch_continuous (CAM_PITCH_CONTINUOUS),
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camera_roll_continuous (CAM_ROLL_CONTINUOUS),
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stabilize_d (STABILIZE_D),
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stabilize_d_schedule (STABILIZE_D_SCHEDULE),
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acro_p (ACRO_P),
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@ -214,30 +214,24 @@ static const AP_Param::Info var_info[] PROGMEM = {
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GGROUP(rc_2, "RC2_", RC_Channel),
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GGROUP(rc_3, "RC3_", RC_Channel),
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GGROUP(rc_4, "RC4_", RC_Channel),
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GGROUP(rc_5, "RC5_", RC_Channel),
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GGROUP(rc_6, "RC6_", RC_Channel),
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GGROUP(rc_7, "RC7_", RC_Channel),
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GGROUP(rc_8, "RC8_", RC_Channel),
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// @Group: RC5_
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#if MOUNT == ENABLED
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// @Group: CAM_R_
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// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
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GGROUP(rc_5, "RC5_", RC_Channel_aux),
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GGROUP(rc_camera_roll, "CAM_R_", RC_Channel_aux),
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// @Group: RC6_
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// @Group: CAM_P_
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// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
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GGROUP(rc_6, "RC6_", RC_Channel_aux),
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GGROUP(rc_camera_pitch, "CAM_P_", RC_Channel_aux),
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// @Group: RC7_
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// @Group: CAM_Y_
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// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
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GGROUP(rc_7, "RC7_", RC_Channel_aux),
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// @Group: RC8_
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// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
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GGROUP(rc_8, "RC8_", RC_Channel_aux),
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// @Group: RC9_
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// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
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GGROUP(rc_9, "RC9_", RC_Channel_aux),
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// @Group: RC10_
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// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
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GGROUP(rc_10, "RC10_", RC_Channel_aux),
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GGROUP(rc_camera_yaw, "CAM_Y_", RC_Channel_aux),
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#endif
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// @Param: RC_SPEED
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// @DisplayName: ESC Update Speed
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@ -249,10 +243,6 @@ static const AP_Param::Info var_info[] PROGMEM = {
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// variable
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//---------
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GSCALAR(camera_pitch_gain, "CAM_P_G"),
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GSCALAR(camera_roll_gain, "CAM_R_G"),
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GSCALAR(camera_pitch_continuous,"CAM_P_CONT"),
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GSCALAR(camera_roll_continuous, "CAM_R_CONT"),
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GSCALAR(stabilize_d, "STAB_D"),
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// @Param: STAB_D_S
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@ -312,6 +302,12 @@ static const AP_Param::Info var_info[] PROGMEM = {
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// @Path: ../libraries/AP_AHRS/AP_AHRS_DCM.cpp, ../libraries/AP_AHRS/AP_AHRS_Quaternion.cpp
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GOBJECT(ahrs, "AHRS_", AP_AHRS),
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#if MOUNT == ENABLED
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// @Group: MNT_
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// @Path: ../libraries/AP_Mount/AP_Mount.cpp
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GOBJECT(camera_mount, "MNT_", AP_Mount),
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#endif
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#ifdef DESKTOP_BUILD
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GOBJECT(sitl, "SIM_", SITL),
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#endif
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