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Add a second mount instance

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This commit is contained in:
Amilcar Lucas 2012-08-08 22:16:48 +02:00
parent 530ea0bebd
commit 9cc705939a
4 changed files with 31 additions and 1 deletions
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15
ArduCopter/ArduCopter.pde
View File

@ -963,6 +963,12 @@ AP_Relay relay;
AP_Mount camera_mount(&current_loc, g_gps, &ahrs);
#endif
#if MOUNT2 == ENABLED
// current_loc uses the baro/gps soloution for altitude rather than gps only.
// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
AP_Mount camera_mount2(&current_loc, g_gps, &ahrs);
#endif
#if CAMERA == ENABLED
//pinMode(camtrig, OUTPUT); // these are free pins PE3(5), PH3(15), PH6(18), PB4(23), PB5(24), PL1(36), PL3(38), PA6(72), PA7(71), PK0(89), PK1(88), PK2(87), PK3(86), PK4(83), PK5(84), PK6(83), PK7(82)
#endif
@ -1274,6 +1280,11 @@ static void fifty_hz_loop()
camera_mount.update_mount_position();
#endif
#if MOUNT2 == ENABLED
// update camera mount's position
camera_mount2.update_mount_position();
#endif
#if CAMERA == ENABLED
g.camera.trigger_pic_cleanup();
#endif
@ -1341,6 +1352,10 @@ static void slow_loop()
camera_mount.update_mount_type();
#endif
#if MOUNT2 == ENABLED
camera_mount2.update_mount_type();
#endif
// agmatthews - USERHOOKS
#ifdef USERHOOK_SLOWLOOP
USERHOOK_SLOWLOOP

1
ArduCopter/Parameters.h
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@ -127,6 +127,7 @@ public:
//
k_param_camera = 165,
k_param_camera_mount,
k_param_camera_mount2,
//
// 170: Radio settings

6
ArduCopter/Parameters.pde
View File

@ -332,6 +332,12 @@ const AP_Param::Info var_info[] PROGMEM = {
GOBJECT(camera_mount, "MNT_", AP_Mount),
#endif
#if MOUNT2 == ENABLED
// @Group: MNT_
// @Path: ../libraries/AP_Mount/AP_Mount.cpp
GOBJECT(camera_mount2, "MNT2_", AP_Mount),
#endif
#ifdef DESKTOP_BUILD
GOBJECT(sitl, "SIM_", SITL),
#endif

10
ArduCopter/config.h
View File

@ -485,7 +485,15 @@
# endif
#endif
#if defined( __AVR_ATmega1280__ ) && (MOUNT == ENABLED)
#ifndef MOUNT2
# if defined( __AVR_ATmega1280__ )
# define MOUNT2 DISABLED
# else
# define MOUNT2 ENABLED
# endif
#endif
#if defined( __AVR_ATmega1280__ ) && (MOUNT == ENABLED || MOUNT2 == ENABLED)
# warning "You choose to enable MOUNT on a small ATmega1280, CLI, CAMERA and AP_LIMITS will be disabled to free some space for it"
// The small ATmega1280 chip does not have enough memory for mount support