Added GIMBAL_MIXTILT (16) to gimbal_flags. Setting gimbal_flags=16 will use "mixed" gimbal i.e. SERVO_MIX_TILT from MultiWii. Untested, but should work(tm).

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@239 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/mixer.c

@@ -346,8 +346,13 @@ void mixTable(void)
         servo[1] = cfg.gimbal_roll_mid + aux[1];
 
         if (rcOptions[BOXCAMSTAB]) {
-            servo[0] += cfg.gimbal_pitch_gain * angle[PITCH] / 16;
-            servo[1] += cfg.gimbal_roll_gain * angle[ROLL]  / 16;
+            if (cfg.gimbal_flags & GIMBAL_MIXTILT) {
+                servo[0] = (-cfg.gimbal_roll_gain) * angle[PITCH] / 16 - cfg.gimbal_roll_gain * angle[ROLL] / 16;
+                servo[1] = (-cfg.gimbal_roll_gain) * angle[PITCH] / 16 - cfg.gimbal_roll_gain * angle[ROLL] / 16;
+            } else {
+                servo[0] += cfg.gimbal_pitch_gain * angle[PITCH] / 16;
+                servo[1] += cfg.gimbal_roll_gain * angle[ROLL]  / 16;
+            }
         }
 
         servo[0] = constrain(servo[0], cfg.gimbal_pitch_min, cfg.gimbal_pitch_max);

src/mw.h

@@ -47,6 +47,7 @@ typedef enum GimbalFlags {
     GIMBAL_TILTONLY = 1 << 1,
     GIMBAL_DISABLEAUX34 = 1 << 2,
     GIMBAL_FORWARDAUX = 1 << 3,
+    GIMBAL_MIXTILT = 1 << 4,
 } GimbalFlags;
 
 /*********** RC alias *****************/