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Camera stabilization updates

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2239 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-05-10 02:17:25 +00:00
parent a7b597bd0a
commit d843f32a21
1 changed files with 7 additions and 6 deletions
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13
ArduCopterMega/Camera.pde
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@ -3,9 +3,10 @@
void init_camera() void init_camera()
{ {
g.rc_camera_pitch.set_angle(4500); g.rc_camera_pitch.set_angle(4500);
g.rc_camera_pitch.radio_min = g.rc_6.radio_min; g.rc_camera_pitch.radio_min = 1000;
g.rc_camera_pitch.radio_trim = g.rc_6.radio_trim; g.rc_camera_pitch.radio_trim = 1500;
g.rc_camera_pitch.radio_max = g.rc_6.radio_max; g.rc_camera_pitch.radio_max = 2000;
g.rc_camera_roll.set_angle(4500); g.rc_camera_roll.set_angle(4500);
g.rc_camera_roll.radio_min = 1000; g.rc_camera_roll.radio_min = 1000;
@ -19,14 +20,14 @@ camera_stabilization()
g.rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here. g.rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
// allow control mixing // allow control mixing
//g.rc_camera_pitch.servo_out = g.rc_camera_pitch.control_mix(dcm.pitch_sensor / 2); g.rc_camera_pitch.servo_out = g.rc_camera_pitch.control_mix(-dcm.pitch_sensor);
// dont allow control mixing // dont allow control mixing
g.rc_camera_pitch.servo_out = dcm.pitch_sensor / 2; //g.rc_camera_pitch.servo_out = dcm.pitch_sensor * -1;
g.rc_camera_pitch.calc_pwm(); g.rc_camera_pitch.calc_pwm();
APM_RC.OutputCh(CH_5, g.rc_camera_pitch.radio_out); APM_RC.OutputCh(CH_5, g.rc_camera_pitch.radio_out);
g.rc_camera_roll.servo_out = dcm.roll_sensor; g.rc_camera_roll.servo_out = -dcm.roll_sensor;
g.rc_camera_roll.calc_pwm(); g.rc_camera_roll.calc_pwm();
APM_RC.OutputCh(CH_6, g.rc_camera_roll.radio_out); APM_RC.OutputCh(CH_6, g.rc_camera_roll.radio_out);