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39 lines
1.0 KiB
39 lines
1.0 KiB
void init_camera() |
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{ |
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rc_camera_pitch.set_angle(4500); |
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rc_camera_pitch.radio_min = rc_6.radio_min; |
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rc_camera_pitch.radio_trim = rc_6.radio_trim; |
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rc_camera_pitch.radio_max = rc_6.radio_max; |
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rc_camera_roll.set_angle(4500); |
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rc_camera_roll.radio_min = 1000; |
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rc_camera_roll.radio_trim = 1500; |
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rc_camera_roll.radio_max = 2000; |
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} |
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void |
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camera_stabilization() |
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{ |
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rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here. |
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// allow control mixing |
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rc_camera_pitch.servo_out = rc_camera_pitch.control_mix(dcm.pitch_sensor / 2); |
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// dont allow control mixing |
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//rc_camera_pitch.servo_out = dcm.pitch_sensor / 2; |
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rc_camera_pitch.calc_pwm(); |
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APM_RC.OutputCh(CH_5, rc_camera_pitch.radio_out); |
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rc_camera_roll.servo_out = dcm.roll_sensor * 1; |
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rc_camera_roll.calc_pwm(); |
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APM_RC.OutputCh(CH_6, rc_camera_roll.radio_out); |
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//If you want to do control mixing use this function. |
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// set servo_out to the control input from radio |
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//rc_camera_roll = rc_2.control_mix(dcm.pitch_sensor); |
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//rc_camera_roll.calc_pwm(); |
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} |
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