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Rename vmount to gimbal

This commit is contained in:
Julian Oes 2022-02-04 15:26:48 +01:00 committed by Daniel Agar
parent 853047c643
commit 490a0c473b
63 changed files with 106 additions and 106 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ROMFS/px4fmu_common/init.d-posix/rcS
View File

@ -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

4
ROMFS/px4fmu_common/init.d/rcS
View File

@ -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

2
Tools/kconfig/cmake_kconfig_lut.txt
View File

@ -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

2
boards/airmind/mindpx-v2/default.px4board
View File

@ -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

2
boards/atl/mantis-edu/default.px4board
View File

@ -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

2
boards/av/x-v1/default.px4board
View File

@ -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

2
boards/beaglebone/blue/default.px4board
View File

@ -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

2
boards/cuav/nora/default.px4board
View File

@ -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

2
boards/cuav/x7pro/default.px4board
View File

@ -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

2
boards/cubepilot/cubeorange/default.px4board
View File

@ -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

2
boards/cubepilot/cubeyellow/default.px4board
View File

@ -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

2
boards/emlid/navio2/default.px4board
View File

@ -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

2
boards/holybro/durandal-v1/default.px4board
View File

@ -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

2
boards/holybro/kakuteh7/default.px4board
View File

@ -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

2
boards/holybro/pix32v5/default.px4board
View File

@ -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

2
boards/matek/h743-slim/default.px4board
View File

@ -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

2
boards/modalai/fc-v1/default.px4board
View File

@ -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

2
boards/modalai/fc-v2/default.px4board
View File

@ -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

2
boards/mro/ctrl-zero-f7-oem/default.px4board
View File

@ -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

2
boards/mro/ctrl-zero-f7/default.px4board
View File

@ -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

2
boards/mro/ctrl-zero-h7-oem/default.px4board
View File

@ -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

2
boards/mro/ctrl-zero-h7/default.px4board
View File

@ -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

2
boards/mro/pixracerpro/default.px4board
View File

@ -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

2
boards/mro/x21-777/default.px4board
View File

@ -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

2
boards/mro/x21/default.px4board
View File

@ -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

2
boards/nxp/fmuk66-e/default.px4board
View File

@ -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

2
boards/nxp/fmuk66-v3/default.px4board
View File

@ -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

2
boards/nxp/fmurt1062-v1/default.px4board
View File

@ -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

2
boards/px4/fmu-v3/default.px4board
View File

@ -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

2
boards/px4/fmu-v4/default.px4board
View File

@ -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

2
boards/px4/fmu-v4pro/default.px4board
View File

@ -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

2
boards/px4/fmu-v5/debug.px4board
View File

@ -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

2
boards/px4/fmu-v5/default.px4board
View File

@ -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

2
boards/px4/fmu-v5/stackcheck.px4board
View File

@ -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

2
boards/px4/fmu-v5x/default.px4board
View File

@ -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

2
boards/px4/fmu-v6u/default.px4board
View File

@ -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

2
boards/px4/fmu-v6x/default.px4board
View File

@ -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

2
boards/px4/raspberrypi/default.px4board
View File

@ -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

2
boards/px4/sitl/default.px4board
View File

@ -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

2
boards/scumaker/pilotpi/default.px4board
View File

@ -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

2
boards/spracing/h7extreme/default.px4board
View File

@ -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

2
boards/uvify/core/default.px4board
View File

@ -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

6
src/modules/vmount/CMakeLists.txt → src/modules/gimbal/CMakeLists.txt
View File

@ -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
)

5
src/modules/gimbal/Kconfig Normal file
View File

@ -0,0 +1,5 @@
menuconfig MODULES_GIMBAL
bool "gimbal"
default n
---help---
Enable support for GIMBAL

6
src/modules/vmount/common.h → src/modules/gimbal/common.h
View File

@ -36,12 +36,12 @@
#include <stdint.h>
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 */

26
src/modules/vmount/vmount.cpp → src/modules/gimbal/gimbal.cpp
View File

@ -49,7 +49,7 @@
#include <px4_platform_common/defines.h>
#include <px4_platform_common/tasks.h>
#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 <px4_platform_common/atomic.h>
using namespace time_literals;
using namespace vmount;
using namespace gimbal;
static px4::atomic<bool> thread_should_exit {false};
static px4::atomic<bool> thread_running {false};
@ -85,10 +85,10 @@ static void usage();
static void update_params(ParameterHandles &param_handles, Parameters &params);
static bool initialize_params(ParameterHandles &param_handles, Parameters &params);
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 <angle>", "Specify an axis and an angle in degrees", false);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}

0
src/modules/vmount/vmount_params.c → src/modules/gimbal/gimbal_params.c
View File

4
src/modules/vmount/vmount_params.h → src/modules/gimbal/gimbal_params.h
View File

@ -37,7 +37,7 @@
#include <stdint.h>
#include <lib/parameters/param.h>
namespace vmount
namespace gimbal
{
struct Parameters {
@ -88,4 +88,4 @@ struct ParameterHandles {
param_t mnt_rc_in_mode;
};
} /* namespace vmount */
} /* namespace gimbal */

4
src/modules/vmount/input.cpp → src/modules/gimbal/input.cpp
View File

@ -34,7 +34,7 @@
#include "input.h"
namespace vmount
namespace gimbal
{
InputBase::InputBase(Parameters &parameters) :
@ -56,4 +56,4 @@ void InputBase::control_data_set_lon_lat(ControlData &control_data, double lon,
}
} /* namespace vmount */
} /* namespace gimbal */

6
src/modules/vmount/input.h → src/modules/gimbal/input.h
View File

@ -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 */

12
src/modules/vmount/input_mavlink.cpp → src/modules/gimbal/input_mavlink.cpp
View File

@ -43,7 +43,7 @@
#include <math.h>
#include <matrix/matrix/math.hpp>
namespace vmount
namespace gimbal
{
InputMavlinkROI::InputMavlinkROI(Parameters &parameters) :
@ -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 */

4
src/modules/vmount/input_mavlink.h → src/modules/gimbal/input_mavlink.h
View File

@ -51,7 +51,7 @@
#include <lib/geo/geo.h>
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 */

4
src/modules/vmount/input_rc.cpp → src/modules/gimbal/input_rc.cpp
View File

@ -42,7 +42,7 @@
#include <px4_platform_common/defines.h>
namespace vmount
namespace gimbal
{
InputRC::InputRC(Parameters &parameters) :
@ -219,4 +219,4 @@ void InputRC::print_status() const
_parameters.mnt_man_pitch, _parameters.mnt_man_yaw);
}
} /* namespace vmount */
} /* namespace gimbal */

6
src/modules/vmount/input_rc.h → src/modules/gimbal/input_rc.h
View File

@ -35,10 +35,10 @@
#pragma once
#include "input.h"
#include "vmount_params.h"
#include "gimbal_params.h"
#include <uORB/topics/manual_control_setpoint.h>
namespace vmount
namespace gimbal
{
class InputRC : public InputBase
@ -64,4 +64,4 @@ private:
float _last_set_aux_values[3] {};
};
} /* namespace vmount */
} /* namespace gimbal */

4
src/modules/vmount/input_test.cpp → src/modules/gimbal/input_test.cpp
View File

@ -38,7 +38,7 @@
#include <lib/mathlib/mathlib.h>
namespace vmount
namespace gimbal
{
InputTest::InputTest(Parameters &parameters) :
@ -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 */

4
src/modules/vmount/input_test.h → src/modules/gimbal/input_test.h
View File

@ -36,7 +36,7 @@
#include "input.h"
#include <px4_platform_common/atomic.h>
namespace vmount
namespace gimbal
{
class InputTest : public InputBase
@ -61,4 +61,4 @@ private:
};
} /* namespace vmount */
} /* namespace gimbal */

4
src/modules/vmount/output.cpp → src/modules/gimbal/output.cpp
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@ -43,7 +43,7 @@
#include <mathlib/mathlib.h>
#include <matrix/math.hpp>
namespace vmount
namespace gimbal
{
OutputBase::OutputBase(const Parameters &parameters)
@ -241,5 +241,5 @@ void OutputBase::set_stabilize(bool roll_stabilize, bool pitch_stabilize, bool y
_stabilize[2] = yaw_stabilize;
}
} /* namespace vmount */
} /* namespace gimbal */

6
src/modules/vmount/output.h → src/modules/gimbal/output.h
View File

@ -35,7 +35,7 @@
#pragma once
#include "common.h"
#include "vmount_params.h"
#include "gimbal_params.h"
#include <drivers/drv_hrt.h>
#include <lib/geo/geo.h>
#include <uORB/Publication.hpp>
@ -44,7 +44,7 @@
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_position.h>
namespace vmount
namespace gimbal
{
class OutputBase
@ -98,4 +98,4 @@ private:
};
} /* namespace vmount */
} /* namespace gimbal */

8
src/modules/vmount/output_mavlink.cpp → src/modules/gimbal/output_mavlink.cpp
View File

@ -39,7 +39,7 @@
#include <px4_platform_common/defines.h>
namespace vmount
namespace gimbal
{
OutputMavlinkV1::OutputMavlinkV1(const Parameters &parameters)
@ -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 */

4
src/modules/vmount/output_mavlink.h → src/modules/gimbal/output_mavlink.h
View File

@ -43,7 +43,7 @@
#include <uORB/topics/gimbal_device_attitude_status.h>
namespace vmount
namespace gimbal
{
class OutputMavlinkV1 : public OutputBase
{
@ -86,4 +86,4 @@ private:
bool _gimbal_device_found {false};
};
} /* namespace vmount */
} /* namespace gimbal */

4
src/modules/vmount/output_rc.cpp → src/modules/gimbal/output_rc.cpp
View File

@ -40,7 +40,7 @@
using math::constrain;
namespace vmount
namespace gimbal
{
OutputRC::OutputRC(const Parameters &parameters)
@ -109,4 +109,4 @@ void OutputRC::_stream_device_attitude_status()
_attitude_status_pub.publish(attitude_status);
}
} /* namespace vmount */
} /* namespace gimbal */

4
src/modules/vmount/output_rc.h → src/modules/gimbal/output_rc.h
View File

@ -40,7 +40,7 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/gimbal_device_attitude_status.h>
namespace vmount
namespace gimbal
{
class OutputRC : public OutputBase
@ -62,4 +62,4 @@ private:
bool _retract_gimbal = true;
};
} /* namespace vmount */
} /* namespace gimbal */

5
src/modules/vmount/Kconfig
View File

@ -1,5 +0,0 @@
menuconfig MODULES_VMOUNT
bool "vmount"
default n
---help---
Enable support for vmount