preparing for camera mounts

git-svn-id: https://arducopter.googlecode.com/svn/trunk@744 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArducopterNG/ArduUser.h

@@ -85,6 +85,8 @@ TODO:
 #define CHANN_CENTER 1500       // Channel center, legacy
 #define MIN_THROTTLE 1040       // Throttle pulse width at minimun...
 
+#define CAM_CENT  1500          // Camera center
+
 /*************************************************************/
 // General definitions
 //Modes

ArducopterNG/Arducopter.h

@@ -306,6 +306,7 @@ int Sonar_Counter=0;
 
 // AP_mode : 1=> Position hold  2=>Stabilization assist mode (normal mode)
 byte AP_mode = 2;  
+byte cam_mode = 0;
 
 // Mode LED timers and variables, used to blink LED_Green
 byte gled_status = HIGH;

ArducopterNG/ArducopterNG.pde

@@ -251,6 +251,8 @@ void loop()
     // Send output commands to motor ESCs...
     motor_output();
 
+//    camera_output();
+
     // Autopilot mode functions
     if (AP_mode == AP_AUTOMATIC_MODE)
     {

ArducopterNG/Functions.pde

@@ -119,7 +119,8 @@ void APMPinMode(volatile unsigned char &Port, byte Pin, boolean Set)
 {
   if (Set)  {
     Port |=   (1 << Pin);
-  } else  {
+  } 
+  else  {
     Port &=  ~(1 << Pin);
   }
 }
@@ -133,3 +134,19 @@ boolean APMPinRead(volatile unsigned char &Port, byte Pin)
 }
 
 
+/* **************************************************** */
+// Camera stabilization
+//
+// Stabilization for three different camera styles
+// 1) Camera mounts that have tilt / pan
+// 2) Camera mounts that have tilt / roll
+// 3) Camera mounts that have tilt / roll / pan
+
+void camera_output() {
+  
+
+
+}
+
+
+

ArducopterNG/Motors.pde

@@ -79,6 +79,10 @@ void motor_output()
   APM_RC.OutputCh(2, frontMotor);
   APM_RC.OutputCh(3, backMotor);
   
+  // Do we have cameras stabilization connected and in use?
+  if(SW_DIP2) camera_output();
+
+  
   // InstantPWM => Force inmediate output on PWM signals
   APM_RC.Force_Out0_Out1();
   APM_RC.Force_Out2_Out3();