ArduCopter: reverted channel 5~8 to be regular RC_Channel objects, restored rc_camera_roll and rc_camera_pitch RC_Channels and created new rc_camera_yaw RC_Channel to control the camera mount servos.

Defined camera_mount (MNT_) in Parameters.h and Parameters.pde so that it appears in global parameters list.
Removed unused camera_*_gain and camaera_*_continuous parameters.

ArduCopter/Parameters.h

@@ -122,9 +122,10 @@ public:
 
 
 	//
-	// Camera parameters
+	// Camera and mount parameters
 	//
-	k_param_camera,
+	k_param_camera = 165,
+	k_param_camera_mount,
 
 	//
 	// 170: Radio settings
@@ -137,8 +138,8 @@ public:
 	k_param_rc_6,
 	k_param_rc_7,
 	k_param_rc_8,
-	k_param_rc_9,
-	k_param_rc_10,
+	k_param_rc_camera_pitch,
+	k_param_rc_camera_roll,
 	k_param_throttle_min,
 	k_param_throttle_max,
 	k_param_throttle_fs_enabled,
@@ -149,11 +150,8 @@ public:
 	k_param_radio_tuning,
 	k_param_radio_tuning_high,
 	k_param_radio_tuning_low,
-	k_param_camera_pitch_gain,
-	k_param_camera_roll_gain,
-    k_param_rc_speed,
-	k_param_camera_pitch_continuous,
-	k_param_camera_roll_continuous,
+    k_param_rc_speed = 192,
+	k_param_rc_camera_yaw = 193,
 
     //
     // 200: flight modes
@@ -296,18 +294,18 @@ public:
 	RC_Channel	rc_2;
 	RC_Channel	rc_3;
 	RC_Channel	rc_4;
-	RC_Channel_aux	rc_5;
-	RC_Channel_aux	rc_6;
-	RC_Channel_aux	rc_7;
-	RC_Channel_aux	rc_8;
-	RC_Channel_aux	rc_9;
-	RC_Channel_aux	rc_10;
+	RC_Channel	rc_5;
+	RC_Channel	rc_6;
+	RC_Channel	rc_7;
+	RC_Channel	rc_8;
+
+#if MOUNT == ENABLED
+	RC_Channel_aux	rc_camera_roll;
+	RC_Channel_aux	rc_camera_pitch;
+	RC_Channel_aux	rc_camera_yaw;
+#endif
     AP_Int16    rc_speed; // speed of fast RC Channels in Hz
 
-	AP_Float	camera_pitch_gain;
-	AP_Float	camera_roll_gain;
-	AP_Int8		camera_pitch_continuous;
-	AP_Int8		camera_roll_continuous;
 	AP_Float	stabilize_d;
 	AP_Float	stabilize_d_schedule;
 
@@ -402,10 +400,6 @@ public:
 
     rc_speed(RC_FAST_SPEED),
 
-	camera_pitch_gain 		(CAM_PITCH_GAIN),
-	camera_roll_gain 		(CAM_ROLL_GAIN),
-	camera_pitch_continuous	(CAM_PITCH_CONTINUOUS),
-	camera_roll_continuous	(CAM_ROLL_CONTINUOUS),
 	stabilize_d 			(STABILIZE_D),
 	stabilize_d_schedule	(STABILIZE_D_SCHEDULE),
 	acro_p					(ACRO_P),

ArduCopter/Parameters.pde

@@ -214,30 +214,24 @@ static const AP_Param::Info var_info[] PROGMEM = {
 	GGROUP(rc_2,	"RC2_", RC_Channel),
 	GGROUP(rc_3,	"RC3_", RC_Channel),
 	GGROUP(rc_4,	"RC4_", RC_Channel),
+	GGROUP(rc_5,	"RC5_", RC_Channel),
+	GGROUP(rc_6,	"RC6_", RC_Channel),
+	GGROUP(rc_7,    "RC7_", RC_Channel),
+	GGROUP(rc_8,    "RC8_", RC_Channel),
 
-	// @Group: RC5_
+#if MOUNT == ENABLED
+	// @Group: CAM_R_
 	// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
-	GGROUP(rc_5,                    "RC5_", RC_Channel_aux),
+	GGROUP(rc_camera_roll,	"CAM_R_", RC_Channel_aux),
 
-	// @Group: RC6_
+	// @Group: CAM_P_
 	// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
-	GGROUP(rc_6,                    "RC6_", RC_Channel_aux),
+	GGROUP(rc_camera_pitch,	"CAM_P_", RC_Channel_aux),
 
-	// @Group: RC7_
+	// @Group: CAM_Y_
 	// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
-	GGROUP(rc_7,                    "RC7_", RC_Channel_aux),
-
-	// @Group: RC8_
-	// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
-	GGROUP(rc_8,                    "RC8_", RC_Channel_aux),
-
-	// @Group: RC9_
-	// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
-	GGROUP(rc_9,                    "RC9_", RC_Channel_aux),
-
-	// @Group: RC10_
-	// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
-	GGROUP(rc_10,                    "RC10_", RC_Channel_aux),
+	GGROUP(rc_camera_yaw,	"CAM_Y_", RC_Channel_aux),
+#endif
 
 	// @Param: RC_SPEED
 	// @DisplayName: ESC Update Speed
@@ -249,10 +243,6 @@ static const AP_Param::Info var_info[] PROGMEM = {
 
 	// variable
 	//---------
-	GSCALAR(camera_pitch_gain,		"CAM_P_G"),
-	GSCALAR(camera_roll_gain, 		"CAM_R_G"),
-	GSCALAR(camera_pitch_continuous,"CAM_P_CONT"),
-	GSCALAR(camera_roll_continuous,	"CAM_R_CONT"),
 	GSCALAR(stabilize_d, 			"STAB_D"),
 
 	// @Param: STAB_D_S
@@ -312,6 +302,12 @@ static const AP_Param::Info var_info[] PROGMEM = {
 	// @Path: ../libraries/AP_AHRS/AP_AHRS_DCM.cpp, ../libraries/AP_AHRS/AP_AHRS_Quaternion.cpp
 	GOBJECT(ahrs,			"AHRS_",    AP_AHRS),
 
+#if MOUNT == ENABLED
+	// @Group: MNT_
+	// @Path: ../libraries/AP_Mount/AP_Mount.cpp
+	GOBJECT(camera_mount,           "MNT_",	AP_Mount),
+#endif
+
 #ifdef DESKTOP_BUILD
 	GOBJECT(sitl, "SIM_", SITL),
 #endif