[Paparazzi-devel] bozz_cam - rotorcraft_cam

[Eduardo Lavratti]

Hello felix, 

i am working on rotorcraft_Cam / bozz_cam module.

I need a stabilized cam so a make this mode:

    case BOOZ_CAM_MODE_STABILIZE:
#ifdef BOOZ_CAM_USE_TILT
      //Bound(booz_cam_tilt,CAM_TA_MIN,CAM_TA_MAX);
      booz_cam_tilt_pwm =  (BOOZ_CAM_TILT_NEUTRAL - (ahrs.ltp_to_body_euler.theta/6) + (booz_cam_tilt/6));
      Bound(booz_cam_tilt_pwm, CT_MIN, CT_MAX);
      
      
          int32_t tmpi[2];
      tmpi[0] = booz_cam_tilt_pwm;
      tmpi[1] = (ahrs.ltp_to_body_euler.theta/6);
      RunOnceEvery(60,DOWNLINK_SEND_DEBUG32(DefaultChannel, DefaultDevice,2, tmpi));
      
#endif
#ifdef BOOZ_CAM_USE_ROLL
      booz_cam_roll_pwm =  (BOOZ_CAM_ROLL_NEUTRAL - (ahrs.ltp_to_body_euler.phi/9));
      Bound(booz_cam_roll_pwm, CT_MIN, CT_MAX);
#endif
      break;      


i like know the correct way to get the stabilize angles ?

kind regard