Camera pointed to heading and elevation

ArduCopter Copter 3.1
1

I need to point the gimbal/camera to a defined heading using compass and elevation using sensors; whatever the attitude and heading the copter is.
Has anybody already modify the ARDUCOPTER code for that? (using 2.6 APM and Tarot 2T gimbal). If not anybody could help?

Thank you!

2

I would have thought that the do-set-ROI command would do this.