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Sub: Add camera slew rate parameter

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This commit is contained in:
Jacob Walser 2017-03-21 15:40:59 -04:00
parent 0966dcb665
commit fae6c084ac
3 changed files with 9 additions and 6 deletions
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10
ArduSub/ArduSub.cpp
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@ -219,12 +219,10 @@ void Sub::fifty_hz_loop()
// check pilot input failsafe // check pilot input failsafe
failsafe_manual_control_check(); failsafe_manual_control_check();
if (hal.rcin->new_input()) { // Update servo output
// Update servo output RC_Channels::set_pwm_all();
RC_Channels::set_pwm_all(); SRV_Channels::limit_slew_rate(SRV_Channel::k_mount_tilt, g.cam_slew_limit, 0.02f);
SRV_Channels::limit_slew_rate(SRV_Channel::k_mount_tilt, 20.0f, 0.02f); SRV_Channels::output_ch_all();
SRV_Channels::output_ch_all();
}
} }
// update_mount - update camera mount position // update_mount - update camera mount position

2
ArduSub/Parameters.cpp
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@ -799,6 +799,8 @@ const AP_Param::Info Sub::var_info[] = {
// @User: Standard // @User: Standard
GSCALAR(terrain_follow, "TERRAIN_FOLLOW", 0), GSCALAR(terrain_follow, "TERRAIN_FOLLOW", 0),
GSCALAR(cam_slew_limit, "CAM_SLEW_LIMIT", 45.0),
// @Group: // @Group:
// @Path: Parameters.cpp // @Path: Parameters.cpp
GOBJECT(g2, "", ParametersG2), GOBJECT(g2, "", ParametersG2),

3
ArduSub/Parameters.h
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@ -227,6 +227,8 @@ public:
k_param_radio_tuning_high, // Disabled k_param_radio_tuning_high, // Disabled
k_param_radio_tuning_low, // Disabled k_param_radio_tuning_low, // Disabled
k_param_cam_slew_limit,
}; };
AP_Int16 format_version; AP_Int16 format_version;
@ -352,6 +354,7 @@ public:
AP_Float surface_depth; AP_Float surface_depth;
AP_Int8 frame_configuration; AP_Int8 frame_configuration;
AP_Float cam_slew_limit;
// Note: keep initializers here in the same order as they are declared // Note: keep initializers here in the same order as they are declared
// above. // above.
Parameters() : Parameters() :