Add a second mount instance

ArduCopter/ArduCopter.pde

@@ -963,6 +963,12 @@ AP_Relay relay;
 AP_Mount camera_mount(&current_loc, g_gps, &ahrs);
 #endif
 
+#if MOUNT2 == ENABLED
+// current_loc uses the baro/gps soloution for altitude rather than gps only.
+// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
+AP_Mount camera_mount2(&current_loc, g_gps, &ahrs);
+#endif
+
 #if CAMERA == ENABLED
 //pinMode(camtrig, OUTPUT);			// these are free pins PE3(5), PH3(15), PH6(18), PB4(23), PB5(24), PL1(36), PL3(38), PA6(72), PA7(71), PK0(89), PK1(88), PK2(87), PK3(86), PK4(83), PK5(84), PK6(83), PK7(82)
 #endif
@@ -1274,6 +1280,11 @@ static void fifty_hz_loop()
 	camera_mount.update_mount_position();
 #endif
 
+#if MOUNT2 == ENABLED
+	// update camera mount's position
+	camera_mount2.update_mount_position();
+#endif
+
 #if CAMERA == ENABLED
 	g.camera.trigger_pic_cleanup();
 #endif
@@ -1341,6 +1352,10 @@ static void slow_loop()
 			camera_mount.update_mount_type();
 #endif
 
+#if MOUNT2 == ENABLED
+			camera_mount2.update_mount_type();
+#endif
+
 			// agmatthews - USERHOOKS
 			#ifdef USERHOOK_SLOWLOOP
 			   USERHOOK_SLOWLOOP

ArduCopter/Parameters.h

@@ -127,6 +127,7 @@ public:
 	//
 	k_param_camera = 165,
 	k_param_camera_mount,
+	k_param_camera_mount2,
 
 	//
 	// 170: Radio settings

ArduCopter/Parameters.pde

@@ -332,6 +332,12 @@ const AP_Param::Info var_info[] PROGMEM = {
 	GOBJECT(camera_mount,           "MNT_",	AP_Mount),
 #endif
 
+#if MOUNT2 == ENABLED
+	// @Group: MNT_
+	// @Path: ../libraries/AP_Mount/AP_Mount.cpp
+	GOBJECT(camera_mount2,           "MNT2_",	AP_Mount),
+#endif
+
 #ifdef DESKTOP_BUILD
 	GOBJECT(sitl, "SIM_", SITL),
 #endif

ArduCopter/config.h

@@ -485,7 +485,15 @@
 # endif
 #endif
 
-#if defined( __AVR_ATmega1280__ ) && (MOUNT == ENABLED)
+#ifndef MOUNT2
+# if defined( __AVR_ATmega1280__ )
+#  define MOUNT2		DISABLED
+# else
+#  define MOUNT2		ENABLED
+# endif
+#endif
+
+#if defined( __AVR_ATmega1280__ ) && (MOUNT == ENABLED || MOUNT2 == ENABLED)
 # warning "You choose to enable MOUNT on a small ATmega1280, CLI, CAMERA and AP_LIMITS will be disabled to free some space for it"
 
 // The small ATmega1280 chip does not have enough memory for mount support