Sub: Add camera slew rate parameter

ArduSub/ArduSub.cpp

@@ -219,12 +219,10 @@ void Sub::fifty_hz_loop()
     // check pilot input failsafe
     failsafe_manual_control_check();
 
-    if (hal.rcin->new_input()) {
-        // Update servo output
-        RC_Channels::set_pwm_all();
-        SRV_Channels::limit_slew_rate(SRV_Channel::k_mount_tilt, 20.0f, 0.02f);
-        SRV_Channels::output_ch_all();
-    }
+    // Update servo output
+    RC_Channels::set_pwm_all();
+    SRV_Channels::limit_slew_rate(SRV_Channel::k_mount_tilt, g.cam_slew_limit, 0.02f);
+    SRV_Channels::output_ch_all();
 }
 
 // update_mount - update camera mount position

ArduSub/Parameters.cpp

@@ -799,6 +799,8 @@ const AP_Param::Info Sub::var_info[] = {
     // @User: Standard
     GSCALAR(terrain_follow, "TERRAIN_FOLLOW", 0),
 
+    GSCALAR(cam_slew_limit, "CAM_SLEW_LIMIT", 45.0),
+
     // @Group:
     // @Path: Parameters.cpp
     GOBJECT(g2, "",  ParametersG2),

ArduSub/Parameters.h

@@ -227,6 +227,8 @@ public:
         k_param_radio_tuning_high, // Disabled
         k_param_radio_tuning_low, // Disabled
 
+        k_param_cam_slew_limit,
+
     };
 
     AP_Int16        format_version;
@@ -352,6 +354,7 @@ public:
     AP_Float                surface_depth;
     AP_Int8                 frame_configuration;
 
+    AP_Float cam_slew_limit;
     // Note: keep initializers here in the same order as they are declared
     // above.
     Parameters() :