mirror of https://github.com/ArduPilot/ardupilot
40 lines
1.1 KiB
Plaintext
40 lines
1.1 KiB
Plaintext
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 = g.rc_6.radio_min;
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g.rc_camera_pitch.radio_trim = g.rc_6.radio_trim;
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g.rc_camera_pitch.radio_max = g.rc_6.radio_max;
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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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g.rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
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// allow control mixing
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g.rc_camera_pitch.servo_out = rc_camera_pitch.control_mix(dcm.pitch_sensor / 2);
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// dont allow control mixing
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//rc_camera_pitch.servo_out = dcm.pitch_sensor / 2;
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g.rc_camera_pitch.calc_pwm();
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APM_RC.OutputCh(CH_5, g.rc_camera_pitch.radio_out);
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g.rc_camera_roll.servo_out = dcm.roll_sensor * 1;
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g.rc_camera_roll.calc_pwm();
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APM_RC.OutputCh(CH_6, g.rc_camera_roll.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_roll = g.rc_2.control_mix(dcm.pitch_sensor);
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//rc_camera_roll.calc_pwm();
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}
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