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Parameters: Added flag for camera pitch/roll servos (continuous or regular)

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This commit is contained in:
Adam M Rivera 2012-07-04 21:06:21 -05:00
parent 1b4bc490a0
commit 278e215a21
3 changed files with 20 additions and 3 deletions
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6
ArduCopter/Parameters.h
View File

@ -141,6 +141,8 @@ public:
k_param_camera_pitch_gain, k_param_camera_pitch_gain,
k_param_camera_roll_gain, k_param_camera_roll_gain,
k_param_rc_speed, k_param_rc_speed,
k_param_camera_pitch_continuous,
k_param_camera_roll_continuous,
// //
// 200: flight modes // 200: flight modes
@ -286,6 +288,8 @@ public:
AP_Float camera_pitch_gain; AP_Float camera_pitch_gain;
AP_Float camera_roll_gain; AP_Float camera_roll_gain;
AP_Int8 camera_pitch_continuous;
AP_Int8 camera_roll_continuous;
AP_Float stabilize_d; AP_Float stabilize_d;
AP_Float stabilize_d_schedule; AP_Float stabilize_d_schedule;
@ -382,6 +386,8 @@ public:
camera_pitch_gain (CAM_PITCH_GAIN), camera_pitch_gain (CAM_PITCH_GAIN),
camera_roll_gain (CAM_ROLL_GAIN), camera_roll_gain (CAM_ROLL_GAIN),
camera_pitch_continuous (CAM_PITCH_CONTINUOUS),
camera_roll_continuous (CAM_ROLL_CONTINUOUS),
stabilize_d (STABILIZE_D), stabilize_d (STABILIZE_D),
stabilize_d_schedule (STABILIZE_D_SCHEDULE), stabilize_d_schedule (STABILIZE_D_SCHEDULE),
acro_p (ACRO_P), acro_p (ACRO_P),

8
ArduCopter/Parameters.pde
View File

@ -166,9 +166,11 @@ static const AP_Param::Info var_info[] PROGMEM = {
// variable // variable
//--------- //---------
GSCALAR(camera_pitch_gain, "CAM_P_G"), GSCALAR(camera_pitch_gain, "CAM_P_G"),
GSCALAR(camera_roll_gain, "CAM_R_G"), GSCALAR(camera_roll_gain, "CAM_R_G"),
GSCALAR(stabilize_d, "STAB_D"), GSCALAR(camera_pitch_continuous,"CAM_P_CONT"),
GSCALAR(camera_roll_continuous, "CAM_R_CONT"),
GSCALAR(stabilize_d, "STAB_D"),
// @Param: STAB_D_S // @Param: STAB_D_S
// @DisplayName: Stabilize D Schedule // @DisplayName: Stabilize D Schedule

9
ArduCopter/config.h
View File

@ -354,6 +354,15 @@
# define CAM_PITCH_GAIN 1.0 # define CAM_PITCH_GAIN 1.0
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// CAMERA SERVO TYPE
#ifndef CAM_PITCH_CONTINUOUS
# define CAM_PITCH_CONTINUOUS 0
#endif
#ifndef CAM_ROLL_CONTINUOUS
# define CAM_ROLL_CONTINUOUS 0
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// OPTICAL_FLOW // OPTICAL_FLOW