mirror of https://github.com/ArduPilot/ardupilot
28 lines
799 B
Plaintext
28 lines
799 B
Plaintext
void init_camera()
|
|
{
|
|
rc_camera_pitch.set_angle(4500);
|
|
rc_camera_pitch.radio_min = rc_6.radio_min;
|
|
rc_camera_pitch.radio_trim = rc_6.radio_trim;
|
|
rc_camera_pitch.radio_max = rc_6.radio_max;
|
|
|
|
rc_camera_yaw.set_angle(4500);
|
|
rc_camera_yaw.radio_min = 1000;
|
|
rc_camera_yaw.radio_trim = 1500;
|
|
rc_camera_yaw.radio_max = 2000;
|
|
}
|
|
|
|
void
|
|
camera_stabilization()
|
|
{
|
|
rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
|
|
rc_camera_pitch.servo_out = rc_camera_pitch.control_mix(dcm.pitch_sensor / 2);
|
|
rc_camera_pitch.calc_pwm();
|
|
APM_RC.OutputCh(CH_5, rc_camera_pitch.radio_out);
|
|
|
|
//If you want to do control mixing use this function.
|
|
// set servo_out to the control input from radio
|
|
//rc_camera_yaw = rc_2.control_mix(dcm.pitch_sensor);
|
|
//rc_camera_yaw.calc_pwm();
|
|
}
|
|
|