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ArduCopter: added enable_out_ch and output_ch calls for rc_camera_roll, pitch and yaw servos so they actually move

This commit is contained in:
rmackay9 2012-07-15 16:38:28 +09:00
parent f137f51ec0
commit 9276c68f80
1 changed files with 13 additions and 1 deletions
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14
ArduCopter/ArduCopter.pde
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@ -1255,7 +1255,19 @@ static void fifty_hz_loop()
#endif #endif
#if MOUNT == ENABLED #if MOUNT == ENABLED
static bool mount_initialised = false;
camera_mount.update_mount_position(); camera_mount.update_mount_position();
// enable camera servos. TO-DO: move to AP_Mount library
if( mount_initialised == false ) {
mount_initialised = true;
g.rc_camera_roll.enable_out_ch(CH_CAM_ROLL);
g.rc_camera_pitch.enable_out_ch(CH_CAM_PITCH);
g.rc_camera_yaw.enable_out_ch(CH_CAM_YAW);
}
// move camera servos. TO-DO: move this to AP_Mount library
g.rc_camera_roll.output_ch(CH_CAM_ROLL);
g.rc_camera_pitch.output_ch(CH_CAM_PITCH);
g.rc_camera_yaw.output_ch(CH_CAM_PITCH);
#endif #endif
#if CAMERA == ENABLED #if CAMERA == ENABLED
@ -1316,7 +1328,7 @@ static void slow_loop()
// ------------------------------- // -------------------------------
read_control_switch(); read_control_switch();
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8); update_aux_servo_function(&g.rc_camera_roll, &g.rc_camera_pitch, &g.rc_camera_yaw);
// agmatthews - USERHOOKS // agmatthews - USERHOOKS
#ifdef USERHOOK_SLOWLOOP #ifdef USERHOOK_SLOWLOOP
USERHOOK_SLOWLOOP USERHOOK_SLOWLOOP