I'm trying to find the particular piece of code that controls input for a gimbal. What I need is the pan tilt roll and zoom inputs and the particular variable that they update. This is for a hexacopter using a Pixhawk. What I am trying to accomplish is creating modes that do and do not return to the home position when released and adjust speed based on zoom. I am assuming at this point that I can just feed these to the standard stabilization after I make these calculations.
As a more distant idea I would like to see something that points to source code inside the mission planner. This would be a tooltip that when set over each control or setting would display the particular file and line that that button points to. It will likely be several different ones for each. It would be helpful if it also displayed all the places in which the variables it edits are used though I imagine this would be too large a list, subtabs of this are possible.
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Specifically what I need is where the code is for the desired angle that is passed to the stabilization function and where this is inputted from the rc receiver.
Found the earth frame function for that now I just need how to add rc channels so that I can make it accept a zoom.