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Add an optional second mount to ArduPlane and ArduCopter

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This commit is contained in:
Amilcar Lucas 2012-08-08 23:22:24 +02:00
parent 0b0b9c29a2
commit d34549f386
6 changed files with 27 additions and 8 deletions
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2
ArduCopter/Parameters.pde
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@ -333,7 +333,7 @@ const AP_Param::Info var_info[] PROGMEM = {
#endif #endif
#if MOUNT2 == ENABLED #if MOUNT2 == ENABLED
// @Group: MNT_ // @Group: MNT2_
// @Path: ../libraries/AP_Mount/AP_Mount.cpp // @Path: ../libraries/AP_Mount/AP_Mount.cpp
GOBJECT(camera_mount2, "MNT2_", AP_Mount), GOBJECT(camera_mount2, "MNT2_", AP_Mount),
#endif #endif

6
ArduCopter/config.h
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@ -486,11 +486,7 @@
#endif #endif
#ifndef MOUNT2 #ifndef MOUNT2
# if defined( __AVR_ATmega1280__ ) # define MOUNT2 DISABLED
# define MOUNT2 DISABLED
# else
# define MOUNT2 ENABLED
# endif
#endif #endif
#if defined( __AVR_ATmega1280__ ) && (MOUNT == ENABLED || MOUNT2 == ENABLED) #if defined( __AVR_ATmega1280__ ) && (MOUNT == ENABLED || MOUNT2 == ENABLED)

15
ArduPlane/ArduPlane.pde
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@ -665,7 +665,13 @@ static float load;
#if MOUNT == ENABLED #if MOUNT == ENABLED
// current_loc uses the baro/gps soloution for altitude rather than gps only. // 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? // 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 #endif
#if CAMERA == ENABLED #if CAMERA == ENABLED
@ -798,6 +804,10 @@ static void medium_loop()
camera_mount.update_mount_position(); camera_mount.update_mount_position();
#endif #endif
#if MOUNT2 == ENABLED
camera_mount2.update_mount_position();
#endif
#if CAMERA == ENABLED #if CAMERA == ENABLED
g.camera.trigger_pic_cleanup(); g.camera.trigger_pic_cleanup();
#endif #endif
@ -941,6 +951,9 @@ static void slow_loop()
#if MOUNT == ENABLED #if MOUNT == ENABLED
camera_mount.update_mount_type(); camera_mount.update_mount_type();
#endif
#if MOUNT2 == ENABLED
camera_mount2.update_mount_type();
#endif #endif
break; break;

1
ArduPlane/Parameters.h
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@ -121,6 +121,7 @@ public:
// //
k_param_camera = 160, k_param_camera = 160,
k_param_camera_mount, k_param_camera_mount,
k_param_camera_mount2,
// //
// 170: Radio settings // 170: Radio settings

5
ArduPlane/Parameters.pde
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@ -539,6 +539,11 @@ const AP_Param::Info var_info[] PROGMEM = {
GOBJECT(camera_mount, "MNT_", AP_Mount), GOBJECT(camera_mount, "MNT_", AP_Mount),
#endif #endif
#if MOUNT2 == ENABLED
// @Group: MNT2_
// @Path: ../libraries/AP_Mount/AP_Mount.cpp
GOBJECT(camera_mount2, "MNT2_", AP_Mount),
#endif
#ifdef DESKTOP_BUILD #ifdef DESKTOP_BUILD
// @Group: SIM_ // @Group: SIM_

6
ArduPlane/config.h
View File

@ -460,7 +460,11 @@
# define MOUNT ENABLED # define MOUNT ENABLED
#endif #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 // 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. // so disable CLI, this will allow mount support and other improvements to fit.