minor cosmetics

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2846 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/Camera.pde

@@ -8,19 +8,16 @@ void init_camera()
 	g.rc_camera_pitch.radio_min 	= 1000;
 	g.rc_camera_pitch.radio_trim 	= 1500;
 	g.rc_camera_pitch.radio_max 	= 2000;
-	g.rc_camera_pitch.set_reverse(g.cam_pitch_reverse);
 
 	g.rc_camera_roll.set_angle(4500);
 	g.rc_camera_roll.radio_min 		= 1000;
 	g.rc_camera_roll.radio_trim 	= 1500;
 	g.rc_camera_roll.radio_max 		= 2000;
-	g.rc_camera_roll.set_reverse(g.cam_roll_reverse);
 }
 
 void
 camera_stabilization()
 {
-
 	// PITCH
 	// -----
 	// allow control mixing

ArduCopterMega/Mavlink_Common.h

@@ -201,8 +201,8 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
 					motor_out[2],
 					motor_out[3],
 					motor_out[4],
+					motor_out[6],
 					motor_out[7],
-					motor_out[8],
 					0);
 			break;
 		}

ArduCopterMega/Parameters.h

@@ -104,8 +104,6 @@ public:
 	k_param_throttle_cruise,
 	k_param_flight_modes,
 	k_param_esc_calibrate,
-	k_param_cam_pitch_reverse,
-	k_param_cam_roll_reverse,
 
 
 	#if FRAME_CONFIG ==	HELI_FRAME
@@ -242,9 +240,6 @@ public:
 	RC_Channel	rc_camera_pitch;
 	RC_Channel	rc_camera_roll;
 
-	AP_Int8		cam_pitch_reverse;
-	AP_Int8		cam_roll_reverse;
-
 		// PID controllers
 	PID			pid_rate_roll;
 	PID			pid_rate_pitch;
@@ -330,12 +325,8 @@ public:
 	rc_6					(k_param_rc_6,		PSTR("RC6_")),
 	rc_7					(k_param_rc_7,		PSTR("RC7_")),
 	rc_8					(k_param_rc_8,		PSTR("RC8_")),
-	rc_camera_pitch			(k_param_rc_9,		NULL),
+	rc_camera_pitch			(k_param_rc_9,		PSTR("RC_CP_")),
-	rc_camera_roll			(k_param_rc_10,		NULL),
+	rc_camera_roll			(k_param_rc_10,		PSTR("RC_CR_")),
-
-	cam_pitch_reverse		(0, 						k_param_cam_pitch_reverse,		PSTR("CAM_P_REV")),
-	cam_roll_reverse		(0, 						k_param_cam_roll_reverse,		PSTR("CAM_R_REV")),
-
 
 	// PID controller	group key						name				initial P			initial I			initial D			initial imax
 	//--------------------------------------------------------------------------------------------------------------------------------------------------------------------

ArduCopterMega/test.pde

@@ -14,6 +14,7 @@ static int8_t	test_imu(uint8_t argc, 			const Menu::arg *argv);
 //static int8_t	test_omega(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_battery(uint8_t argc, 		const Menu::arg *argv);
 //static int8_t	test_wp_nav(uint8_t argc, 		const Menu::arg *argv);
+//static int8_t	test_reverse(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_tuning(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_current(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_relay(uint8_t argc,	 	const Menu::arg *argv);
@@ -72,6 +73,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
 	{"eedump",		test_eedump},
 	{"rawgps",		test_rawgps},
 	{"mission",		test_mission},
+	//{"reverse",		test_reverse},
 	//{"wp",			test_wp_nav},
 };
 
@@ -81,7 +83,7 @@ MENU(test_menu, "test", test_menu_commands);
 int8_t
 test_mode(uint8_t argc, const Menu::arg *argv)
 {
-	Serial.printf_P(PSTR("Test Mode\n\n"));
+	//Serial.printf_P(PSTR("Test Mode\n\n"));
 	test_menu.run();
 }
 
@@ -899,6 +901,45 @@ test_mag(uint8_t argc, const Menu::arg *argv)
 		return (0);
 	}
 }
+/*
+static int8_t
+test_reverse(uint8_t argc, 		const Menu::arg *argv)
+{
+	print_hit_enter();
+	delay(1000);
+
+	while(1){
+		delay(20);
+
+		// Filters radio input - adjust filters in the radio.pde file
+		// ----------------------------------------------------------
+		g.rc_4.set_reverse(0);
+		g.rc_4.set_pwm(APM_RC.InputCh(CH_4));
+		g.rc_4.servo_out = g.rc_4.control_in;
+		g.rc_4.calc_pwm();
+		Serial.printf_P(PSTR("PWM:%d input: %d\toutput%d "),
+							APM_RC.InputCh(CH_4),
+							g.rc_4.control_in,
+							g.rc_4.radio_out);
+		APM_RC.OutputCh(CH_6, g.rc_4.radio_out);
+
+
+		g.rc_4.set_reverse(1);
+		g.rc_4.set_pwm(APM_RC.InputCh(CH_4));
+		g.rc_4.servo_out = g.rc_4.control_in;
+		g.rc_4.calc_pwm();
+		Serial.printf_P(PSTR("\trev input: %d\toutput%d\n"),
+							g.rc_4.control_in,
+							g.rc_4.radio_out);
+
+		APM_RC.OutputCh(CH_7, g.rc_4.radio_out);
+
+		if(Serial.available() > 0){
+			g.rc_4.set_reverse(0);
+			return (0);
+		}
+	}
+}*/
 
 /*
   test the sonar