Fixed camera reversing issue.

moved camera back to 50hz refresh to smoothness.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3298 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/ArduCopterMega.pde

@@ -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

ArduCopterMega/Attitude.pde

@@ -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;
 }
 

ArduCopterMega/Camera.pde

@@ -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);