From 490a0c473b9787e1133c95cfa17804dae87592ca Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 4 Feb 2022 15:26:48 +0100 Subject: [PATCH] Rename vmount to gimbal --- ROMFS/px4fmu_common/init.d-posix/rcS | 2 +- ROMFS/px4fmu_common/init.d/rcS | 4 +-- Tools/kconfig/cmake_kconfig_lut.txt | 2 +- boards/airmind/mindpx-v2/default.px4board | 2 +- boards/atl/mantis-edu/default.px4board | 2 +- boards/av/x-v1/default.px4board | 2 +- boards/beaglebone/blue/default.px4board | 2 +- boards/cuav/nora/default.px4board | 2 +- boards/cuav/x7pro/default.px4board | 2 +- boards/cubepilot/cubeorange/default.px4board | 2 +- boards/cubepilot/cubeyellow/default.px4board | 2 +- boards/emlid/navio2/default.px4board | 2 +- boards/holybro/durandal-v1/default.px4board | 2 +- boards/holybro/kakuteh7/default.px4board | 2 +- boards/holybro/pix32v5/default.px4board | 2 +- boards/matek/h743-slim/default.px4board | 2 +- boards/modalai/fc-v1/default.px4board | 2 +- boards/modalai/fc-v2/default.px4board | 2 +- boards/mro/ctrl-zero-f7-oem/default.px4board | 2 +- boards/mro/ctrl-zero-f7/default.px4board | 2 +- boards/mro/ctrl-zero-h7-oem/default.px4board | 2 +- boards/mro/ctrl-zero-h7/default.px4board | 2 +- boards/mro/pixracerpro/default.px4board | 2 +- boards/mro/x21-777/default.px4board | 2 +- boards/mro/x21/default.px4board | 2 +- boards/nxp/fmuk66-e/default.px4board | 2 +- boards/nxp/fmuk66-v3/default.px4board | 2 +- boards/nxp/fmurt1062-v1/default.px4board | 2 +- boards/px4/fmu-v3/default.px4board | 2 +- boards/px4/fmu-v4/default.px4board | 2 +- boards/px4/fmu-v4pro/default.px4board | 2 +- boards/px4/fmu-v5/debug.px4board | 2 +- boards/px4/fmu-v5/default.px4board | 2 +- boards/px4/fmu-v5/stackcheck.px4board | 2 +- boards/px4/fmu-v5x/default.px4board | 2 +- boards/px4/fmu-v6u/default.px4board | 2 +- boards/px4/fmu-v6x/default.px4board | 2 +- boards/px4/raspberrypi/default.px4board | 2 +- boards/px4/sitl/default.px4board | 2 +- boards/scumaker/pilotpi/default.px4board | 2 +- boards/spracing/h7extreme/default.px4board | 2 +- boards/uvify/core/default.px4board | 2 +- src/modules/{vmount => gimbal}/CMakeLists.txt | 6 ++--- src/modules/gimbal/Kconfig | 5 ++++ src/modules/{vmount => gimbal}/common.h | 6 ++--- .../{vmount/vmount.cpp => gimbal/gimbal.cpp} | 26 +++++++++---------- .../gimbal_params.c} | 0 .../gimbal_params.h} | 4 +-- src/modules/{vmount => gimbal}/input.cpp | 4 +-- src/modules/{vmount => gimbal}/input.h | 6 ++--- .../{vmount => gimbal}/input_mavlink.cpp | 12 ++++----- .../{vmount => gimbal}/input_mavlink.h | 4 +-- src/modules/{vmount => gimbal}/input_rc.cpp | 4 +-- src/modules/{vmount => gimbal}/input_rc.h | 6 ++--- src/modules/{vmount => gimbal}/input_test.cpp | 4 +-- src/modules/{vmount => gimbal}/input_test.h | 4 +-- src/modules/{vmount => gimbal}/output.cpp | 4 +-- src/modules/{vmount => gimbal}/output.h | 6 ++--- .../{vmount => gimbal}/output_mavlink.cpp | 8 +++--- .../{vmount => gimbal}/output_mavlink.h | 4 +-- src/modules/{vmount => gimbal}/output_rc.cpp | 4 +-- src/modules/{vmount => gimbal}/output_rc.h | 4 +-- src/modules/vmount/Kconfig | 5 ---- 63 files changed, 106 insertions(+), 106 deletions(-) rename src/modules/{vmount => gimbal}/CMakeLists.txt (97%) create mode 100644 src/modules/gimbal/Kconfig rename src/modules/{vmount => gimbal}/common.h (98%) rename src/modules/{vmount/vmount.cpp => gimbal/gimbal.cpp} (96%) rename src/modules/{vmount/vmount_params.c => gimbal/gimbal_params.c} (100%) rename src/modules/{vmount/vmount_params.h => gimbal/gimbal_params.h} (98%) rename src/modules/{vmount => gimbal}/input.cpp (98%) rename src/modules/{vmount => gimbal}/input.h (97%) rename src/modules/{vmount => gimbal}/input_mavlink.cpp (99%) rename src/modules/{vmount => gimbal}/input_mavlink.h (99%) rename src/modules/{vmount => gimbal}/input_rc.cpp (99%) rename src/modules/{vmount => gimbal}/input_rc.h (97%) rename src/modules/{vmount => gimbal}/input_test.cpp (98%) rename src/modules/{vmount => gimbal}/input_test.h (98%) rename src/modules/{vmount => gimbal}/output.cpp (99%) rename src/modules/{vmount => gimbal}/output.h (98%) rename src/modules/{vmount => gimbal}/output_mavlink.cpp (98%) rename src/modules/{vmount => gimbal}/output_mavlink.h (98%) rename src/modules/{vmount => gimbal}/output_rc.cpp (98%) rename src/modules/{vmount => gimbal}/output_rc.h (98%) delete mode 100644 src/modules/vmount/Kconfig diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS index 1bea1b9839..13ff820f4d 100644 --- a/ROMFS/px4fmu_common/init.d-posix/rcS +++ b/ROMFS/px4fmu_common/init.d-posix/rcS @@ -234,7 +234,7 @@ fi if param greater -s MNT_MODE_IN -1 then - vmount start + gimbal start fi if param greater -s TRIG_MODE 0 diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 4e658579f9..df7c436a62 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -486,11 +486,11 @@ else . ${R}etc/init.d/rc.thermal_cal # - # Start vmount to control mounts such as gimbals, disabled by default. + # Start gimbal to control mounts such as gimbals, disabled by default. # if param greater -s MNT_MODE_IN -1 then - vmount start + gimbal start fi # Check for flow sensor diff --git a/Tools/kconfig/cmake_kconfig_lut.txt b/Tools/kconfig/cmake_kconfig_lut.txt index 5fb433f340..b9298e75dc 100644 --- a/Tools/kconfig/cmake_kconfig_lut.txt +++ b/Tools/kconfig/cmake_kconfig_lut.txt @@ -150,7 +150,7 @@ simulator,CONFIG_MODULES_SIMULATOR=y temperature_compensation,CONFIG_MODULES_TEMPERATURE_COMPENSATION=y uuv_att_control,CONFIG_MODULES_UUV_ATT_CONTROL=y uuv_pos_control,CONFIG_MODULES_UUV_POS_CONTROL=y -vmount,CONFIG_MODULES_VMOUNT=y +gimbal,CONFIG_MODULES_GIMBAL=y vtol_att_control,CONFIG_MODULES_VTOL_ATT_CONTROL=y bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y dmesg,CONFIG_SYSTEMCMDS_DMESG=y diff --git a/boards/airmind/mindpx-v2/default.px4board b/boards/airmind/mindpx-v2/default.px4board index 7fa0fd5407..7b52a99b64 100644 --- a/boards/airmind/mindpx-v2/default.px4board +++ b/boards/airmind/mindpx-v2/default.px4board @@ -74,7 +74,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/atl/mantis-edu/default.px4board b/boards/atl/mantis-edu/default.px4board index 5f8ea363ce..4116386115 100644 --- a/boards/atl/mantis-edu/default.px4board +++ b/boards/atl/mantis-edu/default.px4board @@ -31,7 +31,7 @@ CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIH=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y diff --git a/boards/av/x-v1/default.px4board b/boards/av/x-v1/default.px4board index 64098d9a33..dd6a04061c 100644 --- a/boards/av/x-v1/default.px4board +++ b/boards/av/x-v1/default.px4board @@ -71,7 +71,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/beaglebone/blue/default.px4board b/boards/beaglebone/blue/default.px4board index 3a3a6b1b96..db48c3e318 100644 --- a/boards/beaglebone/blue/default.px4board +++ b/boards/beaglebone/blue/default.px4board @@ -56,7 +56,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DYN=y CONFIG_SYSTEMCMDS_LED_CONTROL=y diff --git a/boards/cuav/nora/default.px4board b/boards/cuav/nora/default.px4board index 1ce75a9f08..1c7e018398 100644 --- a/boards/cuav/nora/default.px4board +++ b/boards/cuav/nora/default.px4board @@ -76,7 +76,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/cuav/x7pro/default.px4board b/boards/cuav/x7pro/default.px4board index f5e3989c27..a262ced94e 100644 --- a/boards/cuav/x7pro/default.px4board +++ b/boards/cuav/x7pro/default.px4board @@ -77,7 +77,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/cubepilot/cubeorange/default.px4board b/boards/cubepilot/cubeorange/default.px4board index c3d9fc11b5..ff16598640 100644 --- a/boards/cubepilot/cubeorange/default.px4board +++ b/boards/cubepilot/cubeorange/default.px4board @@ -72,7 +72,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/cubepilot/cubeyellow/default.px4board b/boards/cubepilot/cubeyellow/default.px4board index de21b0335d..4cd1d22488 100644 --- a/boards/cubepilot/cubeyellow/default.px4board +++ b/boards/cubepilot/cubeyellow/default.px4board @@ -74,7 +74,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/emlid/navio2/default.px4board b/boards/emlid/navio2/default.px4board index 0a2b6e8984..0a5409e8c3 100644 --- a/boards/emlid/navio2/default.px4board +++ b/boards/emlid/navio2/default.px4board @@ -58,7 +58,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DYN=y CONFIG_SYSTEMCMDS_LED_CONTROL=y diff --git a/boards/holybro/durandal-v1/default.px4board b/boards/holybro/durandal-v1/default.px4board index ad95a4d34b..2feda99a4c 100644 --- a/boards/holybro/durandal-v1/default.px4board +++ b/boards/holybro/durandal-v1/default.px4board @@ -69,7 +69,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/holybro/kakuteh7/default.px4board b/boards/holybro/kakuteh7/default.px4board index ac4b629ff9..095afea53d 100644 --- a/boards/holybro/kakuteh7/default.px4board +++ b/boards/holybro/kakuteh7/default.px4board @@ -62,7 +62,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/holybro/pix32v5/default.px4board b/boards/holybro/pix32v5/default.px4board index 2f2261f7dc..4d09a3a008 100644 --- a/boards/holybro/pix32v5/default.px4board +++ b/boards/holybro/pix32v5/default.px4board @@ -79,7 +79,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/matek/h743-slim/default.px4board b/boards/matek/h743-slim/default.px4board index 7a671b7c00..1cea04c931 100644 --- a/boards/matek/h743-slim/default.px4board +++ b/boards/matek/h743-slim/default.px4board @@ -52,7 +52,7 @@ CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y diff --git a/boards/modalai/fc-v1/default.px4board b/boards/modalai/fc-v1/default.px4board index 781c2c622d..fca6849eca 100644 --- a/boards/modalai/fc-v1/default.px4board +++ b/boards/modalai/fc-v1/default.px4board @@ -74,7 +74,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board index 1919acaf63..5f8fdb69f3 100644 --- a/boards/modalai/fc-v2/default.px4board +++ b/boards/modalai/fc-v2/default.px4board @@ -70,7 +70,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/mro/ctrl-zero-f7-oem/default.px4board b/boards/mro/ctrl-zero-f7-oem/default.px4board index 63082ffddd..e0ee41bb86 100644 --- a/boards/mro/ctrl-zero-f7-oem/default.px4board +++ b/boards/mro/ctrl-zero-f7-oem/default.px4board @@ -72,7 +72,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/mro/ctrl-zero-f7/default.px4board b/boards/mro/ctrl-zero-f7/default.px4board index ccc15ac84d..9558493478 100644 --- a/boards/mro/ctrl-zero-f7/default.px4board +++ b/boards/mro/ctrl-zero-f7/default.px4board @@ -72,7 +72,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/mro/ctrl-zero-h7-oem/default.px4board b/boards/mro/ctrl-zero-h7-oem/default.px4board index ba0f234141..3915a6afb0 100644 --- a/boards/mro/ctrl-zero-h7-oem/default.px4board +++ b/boards/mro/ctrl-zero-h7-oem/default.px4board @@ -71,7 +71,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y diff --git a/boards/mro/ctrl-zero-h7/default.px4board b/boards/mro/ctrl-zero-h7/default.px4board index f0b48bac7f..3a631809d2 100644 --- a/boards/mro/ctrl-zero-h7/default.px4board +++ b/boards/mro/ctrl-zero-h7/default.px4board @@ -72,7 +72,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y diff --git a/boards/mro/pixracerpro/default.px4board b/boards/mro/pixracerpro/default.px4board index 0c042a5efa..4163c6c808 100644 --- a/boards/mro/pixracerpro/default.px4board +++ b/boards/mro/pixracerpro/default.px4board @@ -70,7 +70,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/mro/x21-777/default.px4board b/boards/mro/x21-777/default.px4board index 938cae18f0..df2ea1627b 100644 --- a/boards/mro/x21-777/default.px4board +++ b/boards/mro/x21-777/default.px4board @@ -73,7 +73,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/mro/x21/default.px4board b/boards/mro/x21/default.px4board index 3c4aa1c306..a5b4009011 100644 --- a/boards/mro/x21/default.px4board +++ b/boards/mro/x21/default.px4board @@ -74,7 +74,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/nxp/fmuk66-e/default.px4board b/boards/nxp/fmuk66-e/default.px4board index 9cf0984223..463ae96cdf 100644 --- a/boards/nxp/fmuk66-e/default.px4board +++ b/boards/nxp/fmuk66-e/default.px4board @@ -72,7 +72,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/nxp/fmuk66-v3/default.px4board b/boards/nxp/fmuk66-v3/default.px4board index 9109ae1fe5..352fb02c0e 100644 --- a/boards/nxp/fmuk66-v3/default.px4board +++ b/boards/nxp/fmuk66-v3/default.px4board @@ -76,7 +76,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/nxp/fmurt1062-v1/default.px4board b/boards/nxp/fmurt1062-v1/default.px4board index 8cd35e19ba..54e0fc302f 100644 --- a/boards/nxp/fmurt1062-v1/default.px4board +++ b/boards/nxp/fmurt1062-v1/default.px4board @@ -48,7 +48,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_I2CDETECT=y diff --git a/boards/px4/fmu-v3/default.px4board b/boards/px4/fmu-v3/default.px4board index 625bc18605..7d2c17bea3 100644 --- a/boards/px4/fmu-v3/default.px4board +++ b/boards/px4/fmu-v3/default.px4board @@ -77,7 +77,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/px4/fmu-v4/default.px4board b/boards/px4/fmu-v4/default.px4board index c6af5f672f..39b899314b 100644 --- a/boards/px4/fmu-v4/default.px4board +++ b/boards/px4/fmu-v4/default.px4board @@ -78,7 +78,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/px4/fmu-v4pro/default.px4board b/boards/px4/fmu-v4pro/default.px4board index fcae6f86b1..bc37bab8b7 100644 --- a/boards/px4/fmu-v4pro/default.px4board +++ b/boards/px4/fmu-v4pro/default.px4board @@ -75,7 +75,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/px4/fmu-v5/debug.px4board b/boards/px4/fmu-v5/debug.px4board index 4ddec63532..be936a6aeb 100644 --- a/boards/px4/fmu-v5/debug.px4board +++ b/boards/px4/fmu-v5/debug.px4board @@ -32,7 +32,7 @@ CONFIG_MODULES_SIH=n CONFIG_MODULES_TEMPERATURE_COMPENSATION=n CONFIG_MODULES_UUV_ATT_CONTROL=n CONFIG_MODULES_UUV_POS_CONTROL=n -CONFIG_MODULES_VMOUNT=n +CONFIG_MODULES_GIMBAL=n CONFIG_SYSTEMCMDS_SERIAL_TEST=n CONFIG_BOARD_CONSTRAINED_FLASH=y CONFIG_BOARD_TESTING=y diff --git a/boards/px4/fmu-v5/default.px4board b/boards/px4/fmu-v5/default.px4board index d69c8bb0fd..86f3e739ce 100644 --- a/boards/px4/fmu-v5/default.px4board +++ b/boards/px4/fmu-v5/default.px4board @@ -80,7 +80,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y diff --git a/boards/px4/fmu-v5/stackcheck.px4board b/boards/px4/fmu-v5/stackcheck.px4board index 3e104a6826..67b64f7bef 100644 --- a/boards/px4/fmu-v5/stackcheck.px4board +++ b/boards/px4/fmu-v5/stackcheck.px4board @@ -28,6 +28,6 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n CONFIG_MODULES_ROVER_POS_CONTROL=n CONFIG_MODULES_SIH=n CONFIG_MODULES_TEMPERATURE_COMPENSATION=n -CONFIG_MODULES_VMOUNT=n +CONFIG_MODULES_GIMBAL=n CONFIG_BOARD_CONSTRAINED_FLASH=y CONFIG_BOARD_TESTING=y diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board index 7be267da2d..f7f447f412 100644 --- a/boards/px4/fmu-v5x/default.px4board +++ b/boards/px4/fmu-v5x/default.px4board @@ -80,7 +80,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y diff --git a/boards/px4/fmu-v6u/default.px4board b/boards/px4/fmu-v6u/default.px4board index dde51d912b..b03e7ec581 100644 --- a/boards/px4/fmu-v6u/default.px4board +++ b/boards/px4/fmu-v6u/default.px4board @@ -72,7 +72,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board index b606181528..a8785c96ee 100644 --- a/boards/px4/fmu-v6x/default.px4board +++ b/boards/px4/fmu-v6x/default.px4board @@ -68,7 +68,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y diff --git a/boards/px4/raspberrypi/default.px4board b/boards/px4/raspberrypi/default.px4board index 23b26e7e4d..5cd14674eb 100644 --- a/boards/px4/raspberrypi/default.px4board +++ b/boards/px4/raspberrypi/default.px4board @@ -55,7 +55,7 @@ CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DYN=y CONFIG_SYSTEMCMDS_LED_CONTROL=y diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board index 8f50e4f2bb..dd504480d6 100644 --- a/boards/px4/sitl/default.px4board +++ b/boards/px4/sitl/default.px4board @@ -43,7 +43,7 @@ CONFIG_MODULES_SIMULATOR=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DYN=y diff --git a/boards/scumaker/pilotpi/default.px4board b/boards/scumaker/pilotpi/default.px4board index 14648a8b00..21cf686403 100644 --- a/boards/scumaker/pilotpi/default.px4board +++ b/boards/scumaker/pilotpi/default.px4board @@ -53,7 +53,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DYN=y CONFIG_SYSTEMCMDS_LED_CONTROL=y diff --git a/boards/spracing/h7extreme/default.px4board b/boards/spracing/h7extreme/default.px4board index 37cf3867de..dae1e864b2 100644 --- a/boards/spracing/h7extreme/default.px4board +++ b/boards/spracing/h7extreme/default.px4board @@ -39,7 +39,7 @@ CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y diff --git a/boards/uvify/core/default.px4board b/boards/uvify/core/default.px4board index ec610096d1..e2f5ef42d2 100644 --- a/boards/uvify/core/default.px4board +++ b/boards/uvify/core/default.px4board @@ -59,7 +59,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y -CONFIG_MODULES_VMOUNT=y +CONFIG_MODULES_GIMBAL=y CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DMESG=y diff --git a/src/modules/vmount/CMakeLists.txt b/src/modules/gimbal/CMakeLists.txt similarity index 97% rename from src/modules/vmount/CMakeLists.txt rename to src/modules/gimbal/CMakeLists.txt index a24e2141a7..a99123b089 100644 --- a/src/modules/vmount/CMakeLists.txt +++ b/src/modules/gimbal/CMakeLists.txt @@ -31,8 +31,8 @@ # ############################################################################ px4_add_module( - MODULE drivers__vmount - MAIN vmount + MODULE drivers__gimbal + MAIN gimbal COMPILE_FLAGS SRCS input.cpp @@ -42,7 +42,7 @@ px4_add_module( output.cpp output_mavlink.cpp output_rc.cpp - vmount.cpp + gimbal.cpp DEPENDS geo ) diff --git a/src/modules/gimbal/Kconfig b/src/modules/gimbal/Kconfig new file mode 100644 index 0000000000..0b92e6b9fd --- /dev/null +++ b/src/modules/gimbal/Kconfig @@ -0,0 +1,5 @@ +menuconfig MODULES_GIMBAL + bool "gimbal" + default n + ---help--- + Enable support for GIMBAL diff --git a/src/modules/vmount/common.h b/src/modules/gimbal/common.h similarity index 98% rename from src/modules/vmount/common.h rename to src/modules/gimbal/common.h index 05e8316271..d7fe3f096a 100644 --- a/src/modules/vmount/common.h +++ b/src/modules/gimbal/common.h @@ -36,12 +36,12 @@ #include -namespace vmount +namespace gimbal { /** * @struct ControlData - * This defines the common API between an input and an output of the vmount driver. + * This defines the common API between an input and an output of the gimbal driver. * Each output must support the (full) set of the commands, and an input can create all * or a subset of the types. */ @@ -87,4 +87,4 @@ struct ControlData { }; -} /* namespace vmount */ +} /* namespace gimbal */ diff --git a/src/modules/vmount/vmount.cpp b/src/modules/gimbal/gimbal.cpp similarity index 96% rename from src/modules/vmount/vmount.cpp rename to src/modules/gimbal/gimbal.cpp index ef92fd6b76..08dec3323b 100644 --- a/src/modules/vmount/vmount.cpp +++ b/src/modules/gimbal/gimbal.cpp @@ -49,7 +49,7 @@ #include #include -#include "vmount_params.h" +#include "gimbal_params.h" #include "input_mavlink.h" #include "input_rc.h" #include "input_test.h" @@ -64,7 +64,7 @@ #include using namespace time_literals; -using namespace vmount; +using namespace gimbal; static px4::atomic thread_should_exit {false}; static px4::atomic thread_running {false}; @@ -85,10 +85,10 @@ static void usage(); static void update_params(ParameterHandles ¶m_handles, Parameters ¶ms); static bool initialize_params(ParameterHandles ¶m_handles, Parameters ¶ms); -static int vmount_thread_main(int argc, char *argv[]); -extern "C" __EXPORT int vmount_main(int argc, char *argv[]); +static int gimbal_thread_main(int argc, char *argv[]); +extern "C" __EXPORT int gimbal_main(int argc, char *argv[]); -static int vmount_thread_main(int argc, char *argv[]) +static int gimbal_thread_main(int argc, char *argv[]) { ParameterHandles param_handles; Parameters params {}; @@ -302,7 +302,7 @@ static int vmount_thread_main(int argc, char *argv[]) return 0; } -int vmount_main(int argc, char *argv[]) +int gimbal_main(int argc, char *argv[]) { if (argc < 2) { PX4_ERR("missing command"); @@ -319,16 +319,16 @@ int vmount_main(int argc, char *argv[]) thread_should_exit.store(false); - int vmount_task = px4_task_spawn_cmd("vmount", + int gimbal_task = px4_task_spawn_cmd("gimbal", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, 2100, - vmount_thread_main, + gimbal_thread_main, nullptr); int counter = 0; - while (!thread_running.load() && vmount_task >= 0) { + while (!thread_running.load() && gimbal_task >= 0) { px4_usleep(5000); if (++counter >= 100) { @@ -336,7 +336,7 @@ int vmount_main(int argc, char *argv[]) } } - if (vmount_task < 0) { + if (gimbal_task < 0) { PX4_ERR("failed to start"); return -1; } @@ -529,12 +529,12 @@ Documentation how to use it is on the [gimbal_control](https://docs.px4.io/maste ### Examples Test the output by setting a angles (all omitted axes are set to 0): -$ vmount test pitch -45 yaw 30 +$ gimbal test pitch -45 yaw 30 )DESCR_STR"); - PRINT_MODULE_USAGE_NAME("vmount", "driver"); + PRINT_MODULE_USAGE_NAME("gimbal", "driver"); PRINT_MODULE_USAGE_COMMAND("start"); - PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Test the output: set a fixed angle for one or multiple axes (vmount must be running)"); + PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Test the output: set a fixed angle for one or multiple axes (gimbal must be running)"); PRINT_MODULE_USAGE_ARG("roll|pitch|yaw ", "Specify an axis and an angle in degrees", false); PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); } diff --git a/src/modules/vmount/vmount_params.c b/src/modules/gimbal/gimbal_params.c similarity index 100% rename from src/modules/vmount/vmount_params.c rename to src/modules/gimbal/gimbal_params.c diff --git a/src/modules/vmount/vmount_params.h b/src/modules/gimbal/gimbal_params.h similarity index 98% rename from src/modules/vmount/vmount_params.h rename to src/modules/gimbal/gimbal_params.h index 52697a5113..88d2fe209e 100644 --- a/src/modules/vmount/vmount_params.h +++ b/src/modules/gimbal/gimbal_params.h @@ -37,7 +37,7 @@ #include #include -namespace vmount +namespace gimbal { struct Parameters { @@ -88,4 +88,4 @@ struct ParameterHandles { param_t mnt_rc_in_mode; }; -} /* namespace vmount */ +} /* namespace gimbal */ diff --git a/src/modules/vmount/input.cpp b/src/modules/gimbal/input.cpp similarity index 98% rename from src/modules/vmount/input.cpp rename to src/modules/gimbal/input.cpp index 15f849c056..93ab31b4e6 100644 --- a/src/modules/vmount/input.cpp +++ b/src/modules/gimbal/input.cpp @@ -34,7 +34,7 @@ #include "input.h" -namespace vmount +namespace gimbal { InputBase::InputBase(Parameters ¶meters) : @@ -56,4 +56,4 @@ void InputBase::control_data_set_lon_lat(ControlData &control_data, double lon, } -} /* namespace vmount */ +} /* namespace gimbal */ diff --git a/src/modules/vmount/input.h b/src/modules/gimbal/input.h similarity index 97% rename from src/modules/vmount/input.h rename to src/modules/gimbal/input.h index b3ce83f644..d849d37137 100644 --- a/src/modules/vmount/input.h +++ b/src/modules/gimbal/input.h @@ -35,9 +35,9 @@ #include "common.h" #include "math.h" -#include "vmount_params.h" +#include "gimbal_params.h" -namespace vmount +namespace gimbal { struct Parameters; @@ -67,4 +67,4 @@ protected: }; -} /* namespace vmount */ +} /* namespace gimbal */ diff --git a/src/modules/vmount/input_mavlink.cpp b/src/modules/gimbal/input_mavlink.cpp similarity index 99% rename from src/modules/vmount/input_mavlink.cpp rename to src/modules/gimbal/input_mavlink.cpp index 073313c81d..4418b9a9fc 100644 --- a/src/modules/vmount/input_mavlink.cpp +++ b/src/modules/gimbal/input_mavlink.cpp @@ -43,7 +43,7 @@ #include #include -namespace vmount +namespace gimbal { InputMavlinkROI::InputMavlinkROI(Parameters ¶meters) : @@ -273,9 +273,9 @@ InputMavlinkCmdMount::_process_command(ControlData &control_data, const vehicle_ control_data.type_data.angle.frames[1] = ControlData::TypeData::TypeAngle::Frame::AngleAbsoluteFrame; control_data.type_data.angle.frames[2] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame; - // vmount spec has roll on channel 0, MAVLink spec has pitch on channel 0 + // gimbal spec has roll on channel 0, MAVLink spec has pitch on channel 0 const float roll = math::radians(vehicle_command.param2); - // vmount spec has pitch on channel 1, MAVLink spec has roll on channel 1 + // gimbal spec has pitch on channel 1, MAVLink spec has roll on channel 1 const float pitch = math::radians(vehicle_command.param1); // both specs have yaw on channel 2 float yaw = math::radians(vehicle_command.param3); @@ -694,9 +694,9 @@ InputMavlinkGimbalV2::_process_command(ControlData &control_data, const vehicle_ control_data.type_data.angle.frames[1] = ControlData::TypeData::TypeAngle::Frame::AngleAbsoluteFrame; control_data.type_data.angle.frames[2] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame; - // vmount spec has roll on channel 0, MAVLink spec has pitch on channel 0 + // gimbal spec has roll on channel 0, MAVLink spec has pitch on channel 0 const float roll = math::radians(vehicle_command.param2); - // vmount spec has pitch on channel 1, MAVLink spec has roll on channel 1 + // gimbal spec has pitch on channel 1, MAVLink spec has roll on channel 1 const float pitch = math::radians(vehicle_command.param1); // both specs have yaw on channel 2 float yaw = math::radians(vehicle_command.param3); @@ -970,4 +970,4 @@ void InputMavlinkGimbalV2::_read_control_data_from_position_setpoint_sub(Control control_data.type_data.lonlat.altitude = position_setpoint_triplet.current.alt; } -} /* namespace vmount */ +} /* namespace gimbal */ diff --git a/src/modules/vmount/input_mavlink.h b/src/modules/gimbal/input_mavlink.h similarity index 99% rename from src/modules/vmount/input_mavlink.h rename to src/modules/gimbal/input_mavlink.h index 023f71cae4..0bc0a7f1af 100644 --- a/src/modules/vmount/input_mavlink.h +++ b/src/modules/gimbal/input_mavlink.h @@ -51,7 +51,7 @@ #include -namespace vmount +namespace gimbal { class InputMavlinkROI : public InputBase @@ -130,4 +130,4 @@ private: uint8_t _cur_roi_mode = vehicle_roi_s::ROI_NONE; }; -} /* namespace vmount */ +} /* namespace gimbal */ diff --git a/src/modules/vmount/input_rc.cpp b/src/modules/gimbal/input_rc.cpp similarity index 99% rename from src/modules/vmount/input_rc.cpp rename to src/modules/gimbal/input_rc.cpp index e648e3ff3d..182bab9b05 100644 --- a/src/modules/vmount/input_rc.cpp +++ b/src/modules/gimbal/input_rc.cpp @@ -42,7 +42,7 @@ #include -namespace vmount +namespace gimbal { InputRC::InputRC(Parameters ¶meters) : @@ -219,4 +219,4 @@ void InputRC::print_status() const _parameters.mnt_man_pitch, _parameters.mnt_man_yaw); } -} /* namespace vmount */ +} /* namespace gimbal */ diff --git a/src/modules/vmount/input_rc.h b/src/modules/gimbal/input_rc.h similarity index 97% rename from src/modules/vmount/input_rc.h rename to src/modules/gimbal/input_rc.h index 0b74439c58..2bf0c2f51f 100644 --- a/src/modules/vmount/input_rc.h +++ b/src/modules/gimbal/input_rc.h @@ -35,10 +35,10 @@ #pragma once #include "input.h" -#include "vmount_params.h" +#include "gimbal_params.h" #include -namespace vmount +namespace gimbal { class InputRC : public InputBase @@ -64,4 +64,4 @@ private: float _last_set_aux_values[3] {}; }; -} /* namespace vmount */ +} /* namespace gimbal */ diff --git a/src/modules/vmount/input_test.cpp b/src/modules/gimbal/input_test.cpp similarity index 98% rename from src/modules/vmount/input_test.cpp rename to src/modules/gimbal/input_test.cpp index 4e556eb51b..09f4a21d48 100644 --- a/src/modules/vmount/input_test.cpp +++ b/src/modules/gimbal/input_test.cpp @@ -38,7 +38,7 @@ #include -namespace vmount +namespace gimbal { InputTest::InputTest(Parameters ¶meters) : @@ -101,4 +101,4 @@ void InputTest::set_test_input(int roll_deg, int pitch_deg, int yaw_deg) _has_been_set.store(true); } -} /* namespace vmount */ +} /* namespace gimbal */ diff --git a/src/modules/vmount/input_test.h b/src/modules/gimbal/input_test.h similarity index 98% rename from src/modules/vmount/input_test.h rename to src/modules/gimbal/input_test.h index 7965b42b74..4511838c5c 100644 --- a/src/modules/vmount/input_test.h +++ b/src/modules/gimbal/input_test.h @@ -36,7 +36,7 @@ #include "input.h" #include -namespace vmount +namespace gimbal { class InputTest : public InputBase @@ -61,4 +61,4 @@ private: }; -} /* namespace vmount */ +} /* namespace gimbal */ diff --git a/src/modules/vmount/output.cpp b/src/modules/gimbal/output.cpp similarity index 99% rename from src/modules/vmount/output.cpp rename to src/modules/gimbal/output.cpp index d9383ef5fe..a96afed287 100644 --- a/src/modules/vmount/output.cpp +++ b/src/modules/gimbal/output.cpp @@ -43,7 +43,7 @@ #include #include -namespace vmount +namespace gimbal { OutputBase::OutputBase(const Parameters ¶meters) @@ -241,5 +241,5 @@ void OutputBase::set_stabilize(bool roll_stabilize, bool pitch_stabilize, bool y _stabilize[2] = yaw_stabilize; } -} /* namespace vmount */ +} /* namespace gimbal */ diff --git a/src/modules/vmount/output.h b/src/modules/gimbal/output.h similarity index 98% rename from src/modules/vmount/output.h rename to src/modules/gimbal/output.h index cda74030b0..a2b301bca5 100644 --- a/src/modules/vmount/output.h +++ b/src/modules/gimbal/output.h @@ -35,7 +35,7 @@ #pragma once #include "common.h" -#include "vmount_params.h" +#include "gimbal_params.h" #include #include #include @@ -44,7 +44,7 @@ #include #include -namespace vmount +namespace gimbal { class OutputBase @@ -98,4 +98,4 @@ private: }; -} /* namespace vmount */ +} /* namespace gimbal */ diff --git a/src/modules/vmount/output_mavlink.cpp b/src/modules/gimbal/output_mavlink.cpp similarity index 98% rename from src/modules/vmount/output_mavlink.cpp rename to src/modules/gimbal/output_mavlink.cpp index 7bdbcae4e0..8f4f55b7aa 100644 --- a/src/modules/vmount/output_mavlink.cpp +++ b/src/modules/gimbal/output_mavlink.cpp @@ -39,7 +39,7 @@ #include -namespace vmount +namespace gimbal { OutputMavlinkV1::OutputMavlinkV1(const Parameters ¶meters) @@ -97,8 +97,8 @@ void OutputMavlinkV1::update(const ControlData &control_data, bool new_setpoints vehicle_command.timestamp = t; vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL; - // vmount spec has roll, pitch on channels 0, 1, respectively; MAVLink spec has roll, pitch on channels 1, 0, respectively - // vmount uses radians, MAVLink uses degrees + // gimbal spec has roll, pitch on channels 0, 1, respectively; MAVLink spec has roll, pitch on channels 1, 0, respectively + // gimbal uses radians, MAVLink uses degrees vehicle_command.param1 = math::degrees(_angle_outputs[1] + math::radians(_parameters.mnt_off_pitch)); vehicle_command.param2 = math::degrees(_angle_outputs[0] + math::radians(_parameters.mnt_off_roll)); vehicle_command.param3 = math::degrees(_angle_outputs[2] + math::radians(_parameters.mnt_off_yaw)); @@ -238,4 +238,4 @@ void OutputMavlinkV2::_publish_gimbal_device_set_attitude() _gimbal_device_set_attitude_pub.publish(set_attitude); } -} /* namespace vmount */ +} /* namespace gimbal */ diff --git a/src/modules/vmount/output_mavlink.h b/src/modules/gimbal/output_mavlink.h similarity index 98% rename from src/modules/vmount/output_mavlink.h rename to src/modules/gimbal/output_mavlink.h index 208ab7becb..cc1f957e5b 100644 --- a/src/modules/vmount/output_mavlink.h +++ b/src/modules/gimbal/output_mavlink.h @@ -43,7 +43,7 @@ #include -namespace vmount +namespace gimbal { class OutputMavlinkV1 : public OutputBase { @@ -86,4 +86,4 @@ private: bool _gimbal_device_found {false}; }; -} /* namespace vmount */ +} /* namespace gimbal */ diff --git a/src/modules/vmount/output_rc.cpp b/src/modules/gimbal/output_rc.cpp similarity index 98% rename from src/modules/vmount/output_rc.cpp rename to src/modules/gimbal/output_rc.cpp index 6c730b913b..bb6039ac5a 100644 --- a/src/modules/vmount/output_rc.cpp +++ b/src/modules/gimbal/output_rc.cpp @@ -40,7 +40,7 @@ using math::constrain; -namespace vmount +namespace gimbal { OutputRC::OutputRC(const Parameters ¶meters) @@ -109,4 +109,4 @@ void OutputRC::_stream_device_attitude_status() _attitude_status_pub.publish(attitude_status); } -} /* namespace vmount */ +} /* namespace gimbal */ diff --git a/src/modules/vmount/output_rc.h b/src/modules/gimbal/output_rc.h similarity index 98% rename from src/modules/vmount/output_rc.h rename to src/modules/gimbal/output_rc.h index ddc3610bef..5bb36ce2fc 100644 --- a/src/modules/vmount/output_rc.h +++ b/src/modules/gimbal/output_rc.h @@ -40,7 +40,7 @@ #include #include -namespace vmount +namespace gimbal { class OutputRC : public OutputBase @@ -62,4 +62,4 @@ private: bool _retract_gimbal = true; }; -} /* namespace vmount */ +} /* namespace gimbal */ diff --git a/src/modules/vmount/Kconfig b/src/modules/vmount/Kconfig deleted file mode 100644 index ba267d4b6b..0000000000 --- a/src/modules/vmount/Kconfig +++ /dev/null @@ -1,5 +0,0 @@ -menuconfig MODULES_VMOUNT - bool "vmount" - default n - ---help--- - Enable support for vmount \ No newline at end of file