From 40ec5d906dc8b573c0543e2015b8c35b9722d7e4 Mon Sep 17 00:00:00 2001 From: jasonshort Date: Fri, 28 Jan 2011 05:39:17 +0000 Subject: [PATCH] upped the camera behavior for Max git-svn-id: https://arducopter.googlecode.com/svn/trunk@1569 f9c3cf11-9bcb-44bc-f272-b75c42450872 --- ArduCopterMega/ArduCopterMega.pde | 2 +- ArduCopterMega/Camera.pde | 24 ++++++++++++++++++------ 2 files changed, 19 insertions(+), 7 deletions(-) diff --git a/ArduCopterMega/ArduCopterMega.pde b/ArduCopterMega/ArduCopterMega.pde index 2ca06ccc12..963c7e7e98 100644 --- a/ArduCopterMega/ArduCopterMega.pde +++ b/ArduCopterMega/ArduCopterMega.pde @@ -127,7 +127,7 @@ RC_Channel rc_7(EE_RADIO_7); RC_Channel rc_8(EE_RADIO_8); RC_Channel rc_camera_pitch(EE_RADIO_9); -RC_Channel rc_camera_yaw(EE_RADIO_10); +RC_Channel rc_camera_roll(EE_RADIO_10); int motor_out[4]; byte flight_mode_channel; diff --git a/ArduCopterMega/Camera.pde b/ArduCopterMega/Camera.pde index 1505150d67..331429b193 100644 --- a/ArduCopterMega/Camera.pde +++ b/ArduCopterMega/Camera.pde @@ -5,23 +5,35 @@ void init_camera() rc_camera_pitch.radio_trim = rc_6.radio_trim; rc_camera_pitch.radio_max = rc_6.radio_max; - rc_camera_yaw.set_angle(4500); - rc_camera_yaw.radio_min = 1000; - rc_camera_yaw.radio_trim = 1500; - rc_camera_yaw.radio_max = 2000; + rc_camera_roll.set_angle(4500); + rc_camera_roll.radio_min = 1000; + rc_camera_roll.radio_trim = 1500; + rc_camera_roll.radio_max = 2000; } void camera_stabilization() { rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here. + + // allow control mixing rc_camera_pitch.servo_out = rc_camera_pitch.control_mix(dcm.pitch_sensor / 2); + + // dont allow control mixing + //rc_camera_pitch.servo_out = dcm.pitch_sensor / 2; + rc_camera_pitch.calc_pwm(); APM_RC.OutputCh(CH_5, rc_camera_pitch.radio_out); + + rc_camera_roll.servo_out = dcm.roll_sensor * 1; + rc_camera_roll.calc_pwm(); + APM_RC.OutputCh(CH_6, rc_camera_pitch.radio_out); + + //If you want to do control mixing use this function. // set servo_out to the control input from radio - //rc_camera_yaw = rc_2.control_mix(dcm.pitch_sensor); - //rc_camera_yaw.calc_pwm(); + //rc_camera_roll = rc_2.control_mix(dcm.pitch_sensor); + //rc_camera_roll.calc_pwm(); }