From cc98962c36290a631e27d2063f8c18bcd1c2b21e Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Thu, 29 Nov 2012 18:00:46 +0200
Subject: [PATCH] [OP-724] Provide generic gimbal type

---
 flight/Modules/CameraStab/camerastab.c                        | 3 +++
 ground/openpilotgcs/src/plugins/config/camerastabilization.ui | 3 ++-
 shared/uavobjectdefinition/camerastabsettings.xml             | 2 +-
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/flight/Modules/CameraStab/camerastab.c b/flight/Modules/CameraStab/camerastab.c
index 6dbc6d5d5..ef0e1f5ca 100644
--- a/flight/Modules/CameraStab/camerastab.c
+++ b/flight/Modules/CameraStab/camerastab.c
@@ -244,6 +244,9 @@ void applyFeedForward(uint8_t index, float dT, float *attitude, CameraStabSettin
 	float gimbalTypeCorrection = 1.0f;
 
 	switch (cameraStab->GimbalType) {
+	case CAMERASTABSETTINGS_GIMBALTYPE_GENERIC:
+		// no correction
+		break;
 	case CAMERASTABSETTINGS_GIMBALTYPE_YAWROLLPITCH:
 		if (index == CAMERASTABSETTINGS_INPUT_ROLL) {
 			float pitch;
diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
index 50bebaf41..a56c3f99f 100755
--- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
@@ -1300,7 +1300,8 @@ Range: 0-50ms, default is 5.</string>
                 <property name="toolTip">
                  <string>Gimbal type
 
-Used to limit feed forward acceleration at extreme angles.</string>
+Used to limit feed forward acceleration at extreme angles.
+Generic type provides no limit.</string>
                 </property>
                 <property name="objrelation" stdset="0">
                  <stringlist>
diff --git a/shared/uavobjectdefinition/camerastabsettings.xml b/shared/uavobjectdefinition/camerastabsettings.xml
index a0c7a26dd..478c74269 100644
--- a/shared/uavobjectdefinition/camerastabsettings.xml
+++ b/shared/uavobjectdefinition/camerastabsettings.xml
@@ -8,7 +8,7 @@
         <field name="MaxAxisLockRate" units="deg/s" type="float" elements="1" defaultvalue="1"/>
         <field name="OutputRange" units="deg" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="20"/>
         <field name="ResponseTime" units="ms" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="0"/>
-        <field name="GimbalType" units="" type="enum" elements="1" options="Yaw-Roll-Pitch,Yaw-Pitch-Roll" defaultvalue="Yaw-Roll-Pitch"/>
+        <field name="GimbalType" units="" type="enum" elements="1" options="Generic,Yaw-Roll-Pitch,Yaw-Pitch-Roll" defaultvalue="Generic"/>
         <field name="FeedForward" units="" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="0"/>
         <field name="MaxAccel" units="units/sec" type="uint16" elements="1" defaultvalue="500"/>
         <field name="AccelTime" units="ms" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="5"/>