From d34549f386a1d731ca7b710da4e836ef15e111aa Mon Sep 17 00:00:00 2001
From: Amilcar Lucas <amilcar.lucas@gmail.com>
Date: Wed, 8 Aug 2012 23:22:24 +0200
Subject: [PATCH] Add an optional second mount to ArduPlane and ArduCopter

---
 ArduCopter/Parameters.pde |  2 +-
 ArduCopter/config.h       |  6 +-----
 ArduPlane/ArduPlane.pde   | 15 ++++++++++++++-
 ArduPlane/Parameters.h    |  1 +
 ArduPlane/Parameters.pde  |  5 +++++
 ArduPlane/config.h        |  6 +++++-
 6 files changed, 27 insertions(+), 8 deletions(-)

diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index 0e97dc5016..1e373a2233 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -333,7 +333,7 @@ const AP_Param::Info var_info[] PROGMEM = {
 #endif
 
 #if MOUNT2 == ENABLED
-	// @Group: MNT_
+	// @Group: MNT2_
 	// @Path: ../libraries/AP_Mount/AP_Mount.cpp
 	GOBJECT(camera_mount2,           "MNT2_",	AP_Mount),
 #endif
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 894ce164e3..8f7be14944 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -486,11 +486,7 @@
 #endif
 
 #ifndef MOUNT2
-# if defined( __AVR_ATmega1280__ )
-#  define MOUNT2		DISABLED
-# else
-#  define MOUNT2		ENABLED
-# endif
+# define MOUNT2		DISABLED
 #endif
 
 #if defined( __AVR_ATmega1280__ ) && (MOUNT == ENABLED || MOUNT2 == ENABLED)
diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 857695bdb9..f62df2a4d9 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -665,7 +665,13 @@ static float 			load;
 #if MOUNT == 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_mount(&current_loc, g_gps, &ahrs);
+AP_Mount camera_mount(&current_loc, g_gps, &ahrs, 0);
+#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, 1);
 #endif
 
 #if CAMERA == ENABLED
@@ -798,6 +804,10 @@ static void medium_loop()
 	camera_mount.update_mount_position();
 #endif
 
+#if MOUNT2 == ENABLED
+	camera_mount2.update_mount_position();
+#endif
+
 #if CAMERA == ENABLED
 	g.camera.trigger_pic_cleanup();
 #endif
@@ -941,6 +951,9 @@ static void slow_loop()
 
 #if MOUNT == ENABLED
 			camera_mount.update_mount_type();
+#endif
+#if MOUNT2 == ENABLED
+			camera_mount2.update_mount_type();
 #endif
 			break;
 
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index fa994e6e3b..0316eb2930 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -121,6 +121,7 @@ public:
         //
         k_param_camera = 160,
         k_param_camera_mount,
+        k_param_camera_mount2,
 
         //
         // 170: Radio settings
diff --git a/ArduPlane/Parameters.pde b/ArduPlane/Parameters.pde
index 4d6d111425..e6a35e83f3 100644
--- a/ArduPlane/Parameters.pde
+++ b/ArduPlane/Parameters.pde
@@ -539,6 +539,11 @@ const AP_Param::Info var_info[] PROGMEM = {
 	GOBJECT(camera_mount,           "MNT_",	AP_Mount),
 #endif
 
+#if MOUNT2 == ENABLED
+	// @Group: MNT2_
+	// @Path: ../libraries/AP_Mount/AP_Mount.cpp
+	GOBJECT(camera_mount2,           "MNT2_",	AP_Mount),
+#endif
 
 #ifdef DESKTOP_BUILD
 	// @Group: SIM_
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index 7bfc81fcc1..ff439f424e 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -460,7 +460,11 @@
 # define MOUNT		ENABLED
 #endif
 
-#if defined( __AVR_ATmega1280__ ) && (MOUNT == ENABLED)
+#ifndef MOUNT2
+# define MOUNT2		DISABLED
+#endif
+
+#if defined( __AVR_ATmega1280__ ) && (MOUNT == ENABLED || MOUNT2 == ENABLED)
 
 // The small ATmega1280 chip does not have enough memory for mount support
 // so disable CLI, this will allow mount support and other improvements to fit.