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ArduCopter.pde: added call to set_manual_rc_channel to allow pilot's channel 6 to control pitch. 

This initialisation code should be moved to init_ardupilot and/or into the AP_Mount library.
This commit is contained in:
rmackay9 2012-07-18 23:49:09 +09:00
parent e61cf0e1f9
commit b691c3f658
1 changed files with 21 additions and 2 deletions
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23
ArduCopter/ArduCopter.pde
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@ -1256,14 +1256,30 @@ static void fifty_hz_loop()
#if MOUNT == ENABLED #if MOUNT == ENABLED
static bool mount_initialised = false; static bool mount_initialised = false;
camera_mount.update_mount_position();
// enable camera servos. TO-DO: move to AP_Mount library // do camera mount initialisation. TO-DO: move to AP_Mount library or init_ardupilot
if( mount_initialised == false ) { if( mount_initialised == false ) {
mount_initialised = true; mount_initialised = true;
// set-up channel 6 to control pitch
camera_mount.set_manual_rc_channel( &g.rc_6 );
// enable output channels
g.rc_camera_roll.enable_out_ch(CH_CAM_ROLL); g.rc_camera_roll.enable_out_ch(CH_CAM_ROLL);
g.rc_camera_pitch.enable_out_ch(CH_CAM_PITCH); g.rc_camera_pitch.enable_out_ch(CH_CAM_PITCH);
g.rc_camera_yaw.enable_out_ch(CH_CAM_YAW); g.rc_camera_yaw.enable_out_ch(CH_CAM_YAW);
} }
// update pilot's commands to mount
if( g.radio_tuning == 0 ) {
camera_mount.set_manual_rc_channel_function( AP_MOUNT_MANUAL_RC_FUNCTION_PITCH );
}else{
camera_mount.set_manual_rc_channel_function( AP_MOUNT_MANUAL_RC_FUNCTION_DISABLED );
}
// update camera mount's position
camera_mount.update_mount_position();
// move camera servos. TO-DO: move this to AP_Mount library // move camera servos. TO-DO: move this to AP_Mount library
g.rc_camera_roll.output_ch(CH_CAM_ROLL); g.rc_camera_roll.output_ch(CH_CAM_ROLL);
g.rc_camera_pitch.output_ch(CH_CAM_PITCH); g.rc_camera_pitch.output_ch(CH_CAM_PITCH);
@ -1328,7 +1344,10 @@ static void slow_loop()
// ------------------------------- // -------------------------------
read_control_switch(); read_control_switch();
#if MOUNT == ENABLED
update_aux_servo_function(&g.rc_camera_roll, &g.rc_camera_pitch, &g.rc_camera_yaw); update_aux_servo_function(&g.rc_camera_roll, &g.rc_camera_pitch, &g.rc_camera_yaw);
#endif
// agmatthews - USERHOOKS // agmatthews - USERHOOKS
#ifdef USERHOOK_SLOWLOOP #ifdef USERHOOK_SLOWLOOP
USERHOOK_SLOWLOOP USERHOOK_SLOWLOOP