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Fixed camera reversing issue.

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moved camera back to 50hz refresh to smoothness.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3298 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-09-08 04:59:44 +00:00
parent e05de48e2d
commit 2bf35fea3f
3 changed files with 15 additions and 6 deletions
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5
ArduCopterMega/ArduCopterMega.pde
View File

@ -699,7 +699,7 @@ static void medium_loop()
altitude_error = get_altitude_error();
camera_stabilization();
//camera_stabilization();
// invalidate the throttle hold value
// ----------------------------------
@ -805,6 +805,9 @@ static void fifty_hz_loop()
//else if (throttle_slew > 0)
// throttle_slew--;
camera_stabilization();
//throttle_slew = min((800 - g.rc_3.control_in), throttle_slew);
# if HIL_MODE == HIL_MODE_DISABLED

2
ArduCopterMega/Attitude.pde
View File

@ -213,7 +213,7 @@ static int alt_hold_velocity()
static float angle_boost()
{
float temp = cos_pitch_x * cos_roll_x;
temp = 2.0 - constrain(temp, .6, 1.0);
temp = 2.0 - constrain(temp, .5, 1.0);
return temp;
}

14
ArduCopterMega/Camera.pde
View File

@ -5,10 +5,13 @@
static void init_camera()
{
g.rc_camera_pitch.set_angle(4500);
g.rc_camera_pitch.radio_min = 1000;
g.rc_camera_pitch.radio_min = 1200;
g.rc_camera_pitch.radio_trim = 1500;
g.rc_camera_pitch.radio_max = 2000;
//g.rc_camera_pitch.set_reverse(1);
g.rc_camera_pitch.radio_max = 1900;
g.rc_camera_pitch.set_reverse(1);
// ch 6 high right is down.
g.rc_camera_roll.set_angle(4500);
g.rc_camera_roll.radio_min = 1000;
@ -27,6 +30,8 @@ camera_stabilization()
// allow control mixing
g.rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
g.rc_camera_pitch.servo_out = g.rc_camera_pitch.control_mix(-dcm.pitch_sensor);
// limit
g.rc_camera_pitch.servo_out = constrain(g.rc_camera_pitch.servo_out, -4500, 4500);
// dont allow control mixing
/*
@ -43,7 +48,8 @@ camera_stabilization()
*/
// dont allow control mixing
g.rc_camera_roll.servo_out = -dcm.roll_sensor;
// limit
g.rc_camera_roll.servo_out = constrain(-dcm.roll_sensor, -4500, 4500);