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upped the camera behavior for Max 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1569 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-01-28 05:39:17 +00:00
parent aa6b1d0cd2
commit 40ec5d906d
2 changed files with 19 additions and 7 deletions
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2
ArduCopterMega/ArduCopterMega.pde
View File

@ -127,7 +127,7 @@ RC_Channel rc_7(EE_RADIO_7);
RC_Channel rc_8(EE_RADIO_8); RC_Channel rc_8(EE_RADIO_8);
RC_Channel rc_camera_pitch(EE_RADIO_9); 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]; int motor_out[4];
byte flight_mode_channel; byte flight_mode_channel;

24
ArduCopterMega/Camera.pde
View File

@ -5,23 +5,35 @@ void init_camera()
rc_camera_pitch.radio_trim = rc_6.radio_trim; rc_camera_pitch.radio_trim = rc_6.radio_trim;
rc_camera_pitch.radio_max = rc_6.radio_max; rc_camera_pitch.radio_max = rc_6.radio_max;
rc_camera_yaw.set_angle(4500); rc_camera_roll.set_angle(4500);
rc_camera_yaw.radio_min = 1000; rc_camera_roll.radio_min = 1000;
rc_camera_yaw.radio_trim = 1500; rc_camera_roll.radio_trim = 1500;
rc_camera_yaw.radio_max = 2000; rc_camera_roll.radio_max = 2000;
} }
void void
camera_stabilization() camera_stabilization()
{ {
rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here. 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); 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(); rc_camera_pitch.calc_pwm();
APM_RC.OutputCh(CH_5, rc_camera_pitch.radio_out); 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. //If you want to do control mixing use this function.
// set servo_out to the control input from radio // set servo_out to the control input from radio
//rc_camera_yaw = rc_2.control_mix(dcm.pitch_sensor); //rc_camera_roll = rc_2.control_mix(dcm.pitch_sensor);
//rc_camera_yaw.calc_pwm(); //rc_camera_roll.calc_pwm();
} }