git-svn-id: https://arducopter.googlecode.com/svn/trunk@1373 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/APM_Config.h

@@ -15,7 +15,7 @@
 // These are all experimental and underwork, jp 23-12-10
 //#define ENABLE_EXTRAS     ENABLED
 //#define ENABLE_EXTRAINIT  ENABLED
-//#define ENABLE_CAM        ENABLED
+#define ENABLE_CAM        ENABLED
 //#define ENABLE_AM         ENABLED
 //#define ENABLE_xx         ENABLED
 

ArduCopterMega/ArduCopterMega.pde

@@ -75,8 +75,10 @@ AP_GPS_NONE		GPS(NULL);
 # error Must define GPS_PROTOCOL in your configuration file.
 #endif
 
-AP_IMU 		imu(&adc, EE_IMU_OFFSET);
-AP_DCM 		dcm(&imu, &GPS);
+AP_IMU_Oilpan 		imu(&adc, EE_IMU_OFFSET);
+AP_DCM 				dcm(&imu, &GPS);
+
+//AP_DCM 	dcm(&imu, &gps, &compass);
 
 
 // GENERAL VARIABLE DECLARATIONS

ArduCopterMega/Camera.pde

@@ -1,9 +1,9 @@
 void init_camera()
 {
 	rc_camera_pitch.set_angle(4500);
-	rc_camera_pitch.radio_min 	= 1000;
-	rc_camera_pitch.radio_trim 	= 1500;
-	rc_camera_pitch.radio_max 	= 2000;
+	rc_camera_pitch.radio_min 	= rc_6.radio_min;
+	rc_camera_pitch.radio_trim 	= rc_6.radio_trim;
+	rc_camera_pitch.radio_max 	= rc_6.radio_max;
 	
 	rc_camera_yaw.set_angle(4500);
 	rc_camera_yaw.radio_min 	= 1000;
@@ -14,16 +14,14 @@ void init_camera()
 void
 camera_stabilization()
 {
+	rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
+	rc_camera_pitch.servo_out = rc_camera_pitch.control_mix(pitch_sensor / 2);
+	rc_camera_pitch.calc_pwm();
+	APM_RC.OutputCh(CH_5,rc_camera_pitch.radio_out);
 
-		rc_camera_pitch.servo_out = pitch_sensor;
-		//rc_camera_pitch.servo_out;
-		rc_camera_pitch.calc_pwm();
-		
-		APM_RC.OutputCh(CH_5,rc_camera_pitch.radio_out);
-
-		//If you want to do control mixing use this function.
-		// set servo_out to the control input from radio
-		//rc_camera_yaw 	= rc_2.control_mix(pitch_sensor);
-		//rc_camera_yaw.calc_pwm();		
+	//If you want to do control mixing use this function.
+	// set servo_out to the control input from radio
+	//rc_camera_yaw 	= rc_2.control_mix(pitch_sensor);
+	//rc_camera_yaw.calc_pwm();		
 }
 

ArduCopterMega/config.h

@@ -283,7 +283,7 @@
 // STABILZE Angle Control
 //
 #ifndef STABILIZE_ROLL_P
-# define STABILIZE_ROLL_P 		0.7
+# define STABILIZE_ROLL_P 		0.6
 #endif
 #ifndef STABILIZE_ROLL_I
 # define STABILIZE_ROLL_I 		0.00
@@ -296,7 +296,7 @@
 #endif
 
 #ifndef STABILIZE_PITCH_P
-# define STABILIZE_PITCH_P		0.7
+# define STABILIZE_PITCH_P		0.6
 #endif
 #ifndef STABILIZE_PITCH_I
 # define STABILIZE_PITCH_I		0.0

ArduCopterMega/radio.pde

@@ -2,9 +2,9 @@ void init_rc_in()
 {
 	read_EEPROM_radio();		// read Radio limits
 	rc_1.set_angle(4500);
-	rc_1.dead_zone = 50;
+	rc_1.dead_zone = 60;
 	rc_2.set_angle(4500);
-	rc_2.dead_zone = 50;
+	rc_2.dead_zone = 60;
 	rc_3.set_range(0,1000);
 	rc_3.dead_zone = 20;
 	rc_3.scale_output = .8;
@@ -12,7 +12,14 @@ void init_rc_in()
 	rc_4.dead_zone = 500;
 	rc_5.set_range(0,1000);
 	rc_5.set_filter(false);
+
+	// for kP values
 	rc_6.set_range(200,800);
+
+	// for camera angles
+	//rc_6.set_angle(4500);
+	//rc_6.dead_zone = 60;
+
 	rc_7.set_range(0,1000);
 	rc_8.set_range(0,1000);
 }