diff --git a/flight/Modules/Actuator/actuator.c b/flight/Modules/Actuator/actuator.c
index 3c44f44fb..6b353d20f 100644
--- a/flight/Modules/Actuator/actuator.c
+++ b/flight/Modules/Actuator/actuator.c
@@ -41,6 +41,7 @@
#include "flightstatus.h"
#include "mixersettings.h"
#include "mixerstatus.h"
+#include "cameradesired.h"
// Private constants
@@ -295,6 +296,28 @@ static void actuatorTask(void* parameters)
else
status[ct] = -1;
}
+ if( (mixers[ct].type >= MIXERSETTINGS_MIXER1TYPE_CAMERAROLL) &&
+ (mixers[ct].type <= MIXERSETTINGS_MIXER1TYPE_CAMERAYAW))
+ {
+ CameraDesiredData cameraDesired;
+ if( CameraDesiredGet(&cameraDesired) == 0 ) {
+ switch(mixers[ct].type) {
+ case MIXERSETTINGS_MIXER1TYPE_CAMERAROLL:
+ status[ct] = cameraDesired.Roll;
+ break;
+ case MIXERSETTINGS_MIXER1TYPE_CAMERAPITCH:
+ status[ct] = cameraDesired.Pitch;
+ break;
+ case MIXERSETTINGS_MIXER1TYPE_CAMERAYAW:
+ status[ct] = cameraDesired.Yaw;
+ break;
+ default:
+ break;
+ }
+ }
+ else
+ status[ct] = -1;
+ }
command.Channel[ct] = scaleChannel(status[ct],
ChannelMax[ct],
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
index 29ecc9d12..a7d010661 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
@@ -70,7 +70,8 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
$$UAVOBJECT_SYNTHETICS/sonaraltitude.h \
$$UAVOBJECT_SYNTHETICS/flightstatus.h \
$$UAVOBJECT_SYNTHETICS/hwsettings.h \
- $$UAVOBJECT_SYNTHETICS/attitudesettings.h
+ $$UAVOBJECT_SYNTHETICS/attitudesettings.h \
+ $$UAVOBJECT_SYNTHETICS/cameradesired.h
SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/ahrsstatus.cpp \
@@ -120,4 +121,5 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/uavobjectsinit.cpp \
$$UAVOBJECT_SYNTHETICS/flightstatus.cpp \
$$UAVOBJECT_SYNTHETICS/hwsettings.cpp \
- $$UAVOBJECT_SYNTHETICS/attitudesettings.cpp
+ $$UAVOBJECT_SYNTHETICS/attitudesettings.cpp \
+ $$UAVOBJECT_SYNTHETICS/cameradesired.cpp
diff --git a/shared/uavobjectdefinition/mixersettings.xml b/shared/uavobjectdefinition/mixersettings.xml
index 02ff69013..e070814c5 100644
--- a/shared/uavobjectdefinition/mixersettings.xml
+++ b/shared/uavobjectdefinition/mixersettings.xml
@@ -5,24 +5,24 @@
-
+
-
+
-
+
-
+
-
+
-
+
-
+
-
+
-
+