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Code Issues Releases Activity

LP-563 CameraDesired is updated continuouslly, check gimbal outputs.

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This commit is contained in:
Laurent Lalanne 2017-12-03 17:59:51 +01:00
parent 37353469b8
commit 43c4718798
1 changed files with 24 additions and 0 deletions
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24
flight/modules/CameraStab/camerastab.c
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@ -49,6 +49,8 @@
#include "accessorydesired.h" #include "accessorydesired.h"
#include "attitudestate.h" #include "attitudestate.h"
#include "mixersettings.h"
#include "actuatorcommand.h"
#include "camerastabsettings.h" #include "camerastabsettings.h"
#include "cameradesired.h" #include "cameradesired.h"
#include "hwsettings.h" #include "hwsettings.h"
@ -61,6 +63,8 @@
// Private types // Private types
// Private variables // Private variables
static bool gimbalOutputEnabled = false;
static struct CameraStab_data { static struct CameraStab_data {
portTickType lastSysTime; portTickType lastSysTime;
float inputs[CAMERASTABSETTINGS_INPUT_NUMELEM]; float inputs[CAMERASTABSETTINGS_INPUT_NUMELEM];
@ -83,6 +87,12 @@ static void attitudeUpdated(UAVObjEvent *ev);
static void applyFeedForward(uint8_t index, float dT, float *attitude, CameraStabSettingsData *cameraStab); static void applyFeedForward(uint8_t index, float dT, float *attitude, CameraStabSettingsData *cameraStab);
#endif #endif
// this structure is equivalent to the UAVObjects for one mixer.
typedef struct {
uint8_t type;
int8_t matrix[5];
} __attribute__((packed)) Mixer_t;
/** /**
* Initialise the module, called on startup * Initialise the module, called on startup
@ -148,6 +158,20 @@ static void attitudeUpdated(UAVObjEvent *ev)
return; return;
} }
if (!gimbalOutputEnabled) {
MixerSettingsData mixerSettings;
MixerSettingsGet(&mixerSettings);
Mixer_t *mixers = (Mixer_t *)&mixerSettings.Mixer1Type;
for (int ct = 0; ct < ACTUATORCOMMAND_CHANNEL_NUMELEM; ct++) {
uint8_t mixer_type = mixers[ct].type;
if ((mixer_type >= MIXERSETTINGS_MIXER1TYPE_CAMERAROLLORSERVO1) &&
(mixer_type <= MIXERSETTINGS_MIXER1TYPE_CAMERAYAW)) {
gimbalOutputEnabled = true;
}
}
return;
}
AccessoryDesiredData accessory; AccessoryDesiredData accessory;
CameraStabSettingsData cameraStab; CameraStabSettingsData cameraStab;