Copter: integrate mount frontend-backend restructure

initialise mount on startup
use Mount::has_pan_control method
Remove calls to unimplemented mount.configure_cmd
Remove call to update_mount_type which will be handled from within mount
lib

ArduCopter/ArduCopter.pde

@@ -659,7 +659,7 @@ static AP_HAL::AnalogSource* rssi_analog_source;
 // --------------------------------------
 #if MOUNT == ENABLED
 // current_loc uses the baro/gps soloution for altitude rather than gps only.
-static AP_Mount camera_mount(&current_loc, ahrs, 0);
+static AP_Mount camera_mount(ahrs, current_loc);
 #endif
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -1018,7 +1018,7 @@ static void update_mount()
 {
 #if MOUNT == ENABLED
     // update camera mount's position
-    camera_mount.update_mount_position();
+    camera_mount.update();
 #endif
 
 #if CAMERA == ENABLED
@@ -1134,10 +1134,6 @@ static void one_hz_loop()
     // update assigned functions and enable auxiliar servos
     RC_Channel_aux::enable_aux_servos();
 
-#if MOUNT == ENABLED
-    camera_mount.update_mount_type();
-#endif
-
     check_usb_mux();
 
 #if AP_TERRAIN_AVAILABLE

ArduCopter/commands_logic.pde

@@ -153,16 +153,6 @@ static bool start_command(const AP_Mission::Mission_Command& cmd)
         break;
 #endif
 
-#if MOUNT == ENABLED
-    case MAV_CMD_DO_MOUNT_CONFIGURE:                    // Mission command to configure a camera mount |Mount operation mode (see MAV_CONFIGURE_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|
-        camera_mount.configure_cmd();
-        break;
-
-    case MAV_CMD_DO_MOUNT_CONTROL:                      // Mission command to control a camera mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty|
-        camera_mount.control_cmd();
-        break;
-#endif
-
 #if PARACHUTE == ENABLED
     case MAV_CMD_DO_PARACHUTE:                          // Mission command to configure or release parachute
         do_parachute(cmd);

ArduCopter/control_auto.pde

@@ -590,7 +590,7 @@ static void set_auto_yaw_roi(const Location &roi_location)
     }else{
 #if MOUNT == ENABLED
         // check if mount type requires us to rotate the quad
-        if(camera_mount.get_mount_type() != AP_Mount::k_pan_tilt && camera_mount.get_mount_type() != AP_Mount::k_pan_tilt_roll) {
+        if(!camera_mount.has_pan_control()) {
             roi_WP = pv_location_to_vector(roi_location);
             set_auto_yaw_mode(AUTO_YAW_ROI);
         }

ArduCopter/system.pde

@@ -231,6 +231,9 @@ static void init_ardupilot()
     // initialise inertial nav
     inertial_nav.init();
 
+    // initialise camera mount
+    camera_mount.init();
+
 #ifdef USERHOOK_INIT
     USERHOOK_INIT
 #endif