mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-19 23:28:32 -04:00
9e89ad7311
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1307 f9c3cf11-9bcb-44bc-f272-b75c42450872
42 lines
1.1 KiB
Plaintext
42 lines
1.1 KiB
Plaintext
void init_camera()
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{
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rc_camera_pitch.set_angle(4500);
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rc_camera_pitch.radio_min = 1000;
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rc_camera_pitch.radio_trim = 1500;
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rc_camera_pitch.radio_max = 2000;
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rc_camera_yaw.set_angle(4500);
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rc_camera_yaw.radio_min = 1000;
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rc_camera_yaw.radio_trim = 1500;
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rc_camera_yaw.radio_max = 2000;
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}
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void
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camera_stabilization()
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{
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rc_camera_pitch.servo_out = pitch_sensor;
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//rc_camera_pitch.servo_out;
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rc_camera_pitch.calc_pwm();
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Serial.print(rc_camera_pitch.radio_min,DEC);
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Serial.print(" ");
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Serial.print(rc_camera_pitch.radio_trim,DEC);
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Serial.print(" ");
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Serial.print(rc_camera_pitch.radio_max,DEC);
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Serial.print(" ");
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Serial.print(rc_camera_pitch.servo_out,DEC);
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Serial.print(" ");
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Serial.print(rc_camera_pitch.angle_to_pwm(),DEC);
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Serial.print(" ");
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Serial.println(rc_camera_pitch.radio_out,DEC);
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APM_RC.OutputCh(CH_5,rc_camera_pitch.radio_out);
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//If you want to do control mixing use this function.
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// set servo_out to the control input from radio
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//rc_camera_yaw = rc_2.control_mix(pitch_sensor);
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//rc_camera_yaw.calc_pwm();
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}
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