mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.2 KiB
Plaintext
56 lines
1.2 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if CAMERA_STABILIZER == ENABLED
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void init_camera()
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{
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g.rc_camera_pitch.set_angle(4500);
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g.rc_camera_pitch.radio_min = 1000;
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g.rc_camera_pitch.radio_trim = 1500;
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g.rc_camera_pitch.radio_max = 2000;
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g.rc_camera_roll.set_angle(4500);
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g.rc_camera_roll.radio_min = 1000;
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g.rc_camera_roll.radio_trim = 1500;
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g.rc_camera_roll.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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// PITCH
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// -----
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// allow control mixing
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g.rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
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g.rc_camera_pitch.servo_out = g.rc_camera_pitch.control_mix(-dcm.pitch_sensor);
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// dont allow control mixing
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/*
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g.rc_camera_pitch.servo_out = dcm.pitch_sensor * -1;
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*/
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// ROLL
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// -----
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// allow control mixing
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/*
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g.rc_camera_roll.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
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g.rc_camera_roll.servo_out = g.rc_camera_roll.control_mix(-dcm.roll_sensor);
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*/
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// dont allow control mixing
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g.rc_camera_roll.servo_out = -dcm.roll_sensor;
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// Output
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// ------
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g.rc_camera_pitch.calc_pwm();
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g.rc_camera_roll.calc_pwm();
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APM_RC.OutputCh(CH_5, g.rc_camera_pitch.radio_out);
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APM_RC.OutputCh(CH_6, g.rc_camera_roll.radio_out);
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}
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#endif
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