OP-193 OP-511: Basic code for camera stabilization. Currently tune range with

the servo endpoints and neutral.

flight/Modules/CameraStab/camerastab.c

@@ -0,0 +1,115 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup CameraStab Camera Stabilization Module
+ * @brief Camera stabilization module
+ * Updates accessory outputs with values appropriate for camera stabilization
+ * @{
+ *
+ * @file       camerastab.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Stabilize camera against the roll pitch and yaw of aircraft
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/**
+ * Output object: Accessory
+ *
+ * This module will periodically calculate the output values for stabilizing the camera
+ *
+ * UAVObjects are automatically generated by the UAVObjectGenerator from
+ * the object definition XML file.
+ *
+ * Modules have no API, all communication to other modules is done through UAVObjects.
+ * However modules may use the API exposed by shared libraries.
+ * See the OpenPilot wiki for more details.
+ * http://www.openpilot.org/OpenPilot_Application_Architecture
+ *
+ */
+
+#include "openpilot.h"
+
+#include "accessorydesired.h"
+#include "attitudeactual.h"
+
+//
+// Configuration
+//
+#define SAMPLE_PERIOD_MS		50
+
+// Private types
+
+// Private variables
+
+// Private functions
+static void attitudeUpdated(UAVObjEvent* ev);
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t CameraStabInitialize(void)
+{
+	static UAVObjEvent ev;
+	ev.obj = AttitudeActualHandle();
+	ev.instId = 0;
+	ev.event = 0;
+
+	EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
+
+	return 0;
+}
+
+static void attitudeUpdated(UAVObjEvent* ev)
+{
+	if (ev->obj != AttitudeActualHandle())
+		return;
+
+	float attitude;
+	AccessoryDesiredData accessory;
+	float rollConst = 1.0/35.0;
+	float pitchConst = 1.0/35.0;
+	float yawConst = 1.0/35.0;
+	
+	
+	AttitudeActualRollGet(&attitude);
+	accessory.AccessoryVal = attitude * rollConst;
+	if(AccessoryDesiredInstSet(0, &accessory) != 0)
+		AccessoryDesiredCreateInstance();
+
+	AttitudeActualPitchGet(&attitude);
+	accessory.AccessoryVal = attitude * pitchConst;
+	if(AccessoryDesiredInstSet(1, &accessory) != 0)
+		AccessoryDesiredCreateInstance();
+
+	AttitudeActualYawGet(&attitude);
+	accessory.AccessoryVal = attitude * yawConst;
+	if(AccessoryDesiredInstSet(2, &accessory) != 0)
+		AccessoryDesiredCreateInstance();
+}
+
+/**
+  * @}
+  */
+
+/**
+ * @}
+ */

flight/Modules/CameraStab/inc/camerastab.h

@@ -0,0 +1,42 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup BatteryModule Battery Module
+ * @{ 
+ *
+ * @file       battery.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Module to read the battery Voltage and Current periodically and set alarms appropriately.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef BATTERY_H
+#define BATTERY_H
+
+#include "openpilot.h"
+
+int32_t BatteryInitialize(void);
+
+#endif // BATTERY_H
+
+/**
+  * @}
+  * @}
+  */

flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj

@@ -2687,6 +2687,8 @@
 		65C35EA812F0A834004811C2 /* eventdispatcher.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = eventdispatcher.c; sourceTree = "<group>"; };
 		65C35F6612F0DC2D004811C2 /* attitude.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = attitude.c; sourceTree = "<group>"; };
 		65C35F6812F0DC2D004811C2 /* attitude.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = attitude.h; sourceTree = "<group>"; };
+		65C9903C13A871B90082BD60 /* camerastab.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = camerastab.c; sourceTree = "<group>"; };
+		65C9903E13A871B90082BD60 /* camerastab.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = camerastab.h; sourceTree = "<group>"; };
 		65D2CA841248F9A400B1E7D6 /* mixersettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixersettings.xml; sourceTree = "<group>"; };
 		65D2CA851248F9A400B1E7D6 /* mixerstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixerstatus.xml; sourceTree = "<group>"; };
 		65E410AE12F65AEA00725888 /* attitudesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = attitudesettings.xml; sourceTree = "<group>"; };
@@ -3205,6 +3207,7 @@
 				650D8E2812DFE16400D05CC9 /* Altitude */,
 				65C35F6512F0DC2D004811C2 /* Attitude */,
 				650D8E2E12DFE16400D05CC9 /* Battery */,
+				65C9903B13A871B90082BD60 /* CameraStab */,
 				650D8E3212DFE16400D05CC9 /* Example */,
 				650D8E3B12DFE16400D05CC9 /* FirmwareIAP */,
 				650D8E3F12DFE16400D05CC9 /* FlightPlan */,
@@ -7498,6 +7501,23 @@
 			path = inc;
 			sourceTree = "<group>";
 		};
+		65C9903B13A871B90082BD60 /* CameraStab */ = {
+			isa = PBXGroup;
+			children = (
+				65C9903C13A871B90082BD60 /* camerastab.c */,
+				65C9903D13A871B90082BD60 /* inc */,
+			);
+			path = CameraStab;
+			sourceTree = "<group>";
+		};
+		65C9903D13A871B90082BD60 /* inc */ = {
+			isa = PBXGroup;
+			children = (
+				65C9903E13A871B90082BD60 /* camerastab.h */,
+			);
+			path = inc;
+			sourceTree = "<group>";
+		};
 		65E6DF7012E02E8E00058553 /* CopterControl */ = {
 			isa = PBXGroup;
 			children = (