fixed a bug on Yaw.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1308 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/APM_Config.h

@@ -15,7 +15,7 @@
 // These are all experimental and underwork, jp 23-12-10
 //#define ENABLE_EXTRAS     ENABLED
 //#define ENABLE_EXTRAINIT  ENABLED
-#define ENABLE_CAM        ENABLED
+//#define ENABLE_CAM        ENABLED
 //#define ENABLE_AM         ENABLED
 //#define ENABLE_xx         ENABLED
 

ArduCopterMega/Camera.pde

@@ -19,18 +19,6 @@ camera_stabilization()
 		//rc_camera_pitch.servo_out;
 		rc_camera_pitch.calc_pwm();
 		
-		Serial.print(rc_camera_pitch.radio_min,DEC);
-		Serial.print(" ");
-		Serial.print(rc_camera_pitch.radio_trim,DEC);
-		Serial.print(" ");
-		Serial.print(rc_camera_pitch.radio_max,DEC);
-		Serial.print(" ");
-		Serial.print(rc_camera_pitch.servo_out,DEC);
-		Serial.print(" ");
-		Serial.print(rc_camera_pitch.angle_to_pwm(),DEC);
-		Serial.print(" ");
-		Serial.println(rc_camera_pitch.radio_out,DEC);
-
 		APM_RC.OutputCh(CH_5,rc_camera_pitch.radio_out);
 
 		//If you want to do control mixing use this function.

ArduCopterMega/radio.pde

@@ -60,6 +60,13 @@ void trim_radio()
 	rc_4.trim();	// yaw
 }
 
+void trim_yaw()
+{
+	for (byte i = 0; i < 50; i++){
+		read_radio();
+	}
+	rc_4.trim();	// yaw
+}
 
 #define ARM_DELAY 10
 #define DISARM_DELAY 10

ArduCopterMega/system.pde

@@ -235,8 +235,7 @@ void startup_ground(void)
 
 	// read the radio to set trims
 	// ---------------------------
-	// I am disabling this. It's not appropriate for Copters, only planes
-	//trim_radio();
+	trim_yaw();
 
 	// Warm up and read Gyro offsets
 	// -----------------------------