From fae6c084ac2ef38489e24d284072bc73d32aa43f Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Tue, 21 Mar 2017 15:40:59 -0400
Subject: [PATCH] Sub: Add camera slew rate parameter

---
 ArduSub/ArduSub.cpp    | 10 ++++------
 ArduSub/Parameters.cpp |  2 ++
 ArduSub/Parameters.h   |  3 +++
 3 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index 2b9e9912a3..f3623a9d46 100644
--- a/ArduSub/ArduSub.cpp
+++ b/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
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index d94ec9356a..624052c4bf 100644
--- a/ArduSub/Parameters.cpp
+++ b/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),
diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index 03cd8389ed..3c0dd7c7fe 100644
--- a/ArduSub/Parameters.h
+++ b/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() :