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AP_Mount: fixed defaults for angles 

this saves some eeprom space by not saving the 4500 values
This commit is contained in:
Andrew Tridgell 2012-08-08 13:04:49 +10:00
parent 7d9e4a7559
commit 3159c9ed99
1 changed files with 7 additions and 17 deletions
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24
libraries/AP_Mount/AP_Mount.cpp
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@ -11,7 +11,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Description: Camera or antenna mount operation mode
// @Values: 0:retract,1:neutral,2:MavLink_targeting,3:RC_targeting,4:GPS_point
// @User: Standard
AP_GROUPINFO("MODE", 0, AP_Mount, _mount_mode, 0), // see MAV_MOUNT_MODE at ardupilotmega.h
AP_GROUPINFO("MODE", 0, AP_Mount, _mount_mode, MAV_MOUNT_MODE_RETRACT), // see MAV_MOUNT_MODE at ardupilotmega.h
// @Param: RETRACT
// @DisplayName: Mount retract angles
@ -75,7 +75,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Range: -18000 17999
// @Increment: 1
// @User: Standard
AP_GROUPINFO("ROLL_ANGMIN", 8, AP_Mount, _roll_angle_min, 0),
AP_GROUPINFO("ROLL_ANGMIN", 8, AP_Mount, _roll_angle_min, -4500),
// @Param: ROLL_ANGLE_MAX
// @DisplayName: Maximum roll angle
@ -84,7 +84,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Range: -18000 17999
// @Increment: 1
// @User: Standard
AP_GROUPINFO("ROLL_ANGMAX", 9, AP_Mount, _roll_angle_max, 0),
AP_GROUPINFO("ROLL_ANGMAX", 9, AP_Mount, _roll_angle_max, 4500),
// @Param: TILT_RC_IN
// @DisplayName: tilt (pitch) RC input channel
@ -100,7 +100,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Range: -18000 17999
// @Increment: 1
// @User: Standard
AP_GROUPINFO("TILT_ANGMIN", 11, AP_Mount, _tilt_angle_min, 0),
AP_GROUPINFO("TILT_ANGMIN", 11, AP_Mount, _tilt_angle_min, -4500),
// @Param: TILT_ANGLE_MAX
// @DisplayName: Maximum tilt angle
@ -109,7 +109,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Range: -18000 17999
// @Increment: 1
// @User: Standard
AP_GROUPINFO("TILT_ANGMAX", 12, AP_Mount, _tilt_angle_max, 0),
AP_GROUPINFO("TILT_ANGMAX", 12, AP_Mount, _tilt_angle_max, 4500),
// @Param: PAN_RC_IN
// @DisplayName: pan (yaw) RC input channel
@ -125,7 +125,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Range: -18000 17999
// @Increment: 1
// @User: Standard
AP_GROUPINFO("PAN_ANGMIN", 14, AP_Mount, _pan_angle_min, 0),
AP_GROUPINFO("PAN_ANGMIN", 14, AP_Mount, _pan_angle_min, -4500),
// @Param: PAN_ANGLE_MAX
// @DisplayName: Maximum pan angle
@ -134,7 +134,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Range: -18000 17999
// @Increment: 1
// @User: Standard
AP_GROUPINFO("PAN_ANGMAX", 15, AP_Mount, _pan_angle_max, 0),
AP_GROUPINFO("PAN_ANGMAX", 15, AP_Mount, _pan_angle_max, 4500),
/*
Must be commented out because the framework does not support more than 16 parameters
// @Param: JOYSTICK_SPEED
@ -157,9 +157,6 @@ _gps(gps)
_ahrs = ahrs;
_current_loc = current_loc;
// startup with the mount retracted
set_mode(MAV_MOUNT_MODE_RETRACT);
// default to zero angles
_retract_angles = Vector3f(0,0,0);
_neutral_angles = Vector3f(0,0,0);
@ -172,13 +169,6 @@ _gps(gps)
_pan_rc_in = 0;
_tilt_rc_in= 0;
_roll_rc_in= 0;
_pan_angle_min = -4500; // assume -45 degrees min deflection
_pan_angle_max = 4500; // assume 45 degrees max deflection
_tilt_angle_min = -4500; // assume -45 degrees min deflection
_tilt_angle_max = 4500; // assume 45 degrees max deflection
_roll_angle_min = -4500; // assume -45 degrees min deflection
_roll_angle_max = 4500; // assume 45 degrees max deflection
}
/// Auto-detect the mount gimbal type depending on the functions assigned to the servos