From 9cc705939add5eda56828124ff06582da0358d20 Mon Sep 17 00:00:00 2001
From: Amilcar Lucas <amilcar.lucas@gmail.com>
Date: Wed, 8 Aug 2012 22:16:48 +0200
Subject: [PATCH] Add a second mount instance

---
 ArduCopter/ArduCopter.pde | 15 +++++++++++++++
 ArduCopter/Parameters.h   |  1 +
 ArduCopter/Parameters.pde |  6 ++++++
 ArduCopter/config.h       | 10 +++++++++-
 4 files changed, 31 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index f0f47e31ab..5a910f9c13 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -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
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 9164132604..ea988bba68 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -127,6 +127,7 @@ public:
 	//
 	k_param_camera = 165,
 	k_param_camera_mount,
+	k_param_camera_mount2,
 
 	//
 	// 170: Radio settings
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index 04554b628b..0e97dc5016 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -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
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index bc57357f70..894ce164e3 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -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