Mostly for the sake of better understanding the insides of APM2, Arduplane and Arducopter, I'm attempting to write what I'm calling ArduGimbal (very clever I know).
Immediately I'm just trying to use an APM2 to stabilize a triple axis gimbal. I'm a partial noob, I can write in Java, Processing, & Arduino, and can muscle through to make a C++ library for Arduino. Write now I am able to grab Accel, Gyro, and Mag data from the APM2 and push it through to a Processing program to animate the sensor input. But for the life of me I can't figure out how to read and write input/output PWM pins. I've been looking through Arducopter/plane libraries, code and examples and can't figure it out. I think many of the examples are broken as well and it's difficult for a partial noob like myself to figure out what I need to make it work.
Any help as especially general advice for where/how to look for documentation for APM libraries would be much appreciated. (Like the equivalent of JavaDocs, and the Processing/Arduino reference page)
Thanks in advanced,