vmount: add 'vmount test' command to set a specific angle

src/drivers/vmount/input_test.cpp

@@ -0,0 +1,88 @@
+/****************************************************************************
+*
+*   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+* 2. Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in
+*    the documentation and/or other materials provided with the
+*    distribution.
+* 3. Neither the name PX4 nor the names of its contributors may be
+*    used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+****************************************************************************/
+
+/**
+ * @file input_test.cpp
+ * @author Beat Küng <beat-kueng@gmx.net>
+ *
+ */
+
+#include "input_test.h"
+
+#include <px4_posix.h>
+
+
+namespace vmount
+{
+
+InputTest::InputTest(float roll_deg, float pitch_deg, float yaw_deg)
+{
+	_angles[0] = roll_deg;
+	_angles[1] = pitch_deg;
+	_angles[2] = yaw_deg;
+}
+
+bool InputTest::finished()
+{
+	return true; /* only a single-shot test (for now) */
+}
+
+int InputTest::update(unsigned int timeout_ms, ControlData **control_data)
+{
+	//we directly override the update() here, since we don't need the initialization from the base class
+
+	_control_data.type = ControlData::Type::Angle;
+
+	for (int i = 0; i < 3; ++i) {
+		_control_data.type_data.angle.is_speed[i] = false;
+		_control_data.type_data.angle.angles[i] = _angles[i] * M_DEG_TO_RAD_F;
+
+		_control_data.stabilize_axis[i] = false;
+	}
+
+	_control_data.gimbal_shutter_retract = false;
+	*control_data = &_control_data;
+	return 0;
+}
+
+int InputTest::initialize()
+{
+	return 0;
+}
+
+void InputTest::print_status()
+{
+	PX4_INFO("Input: Test");
+}
+
+} /* namespace vmount */