Rename vmount to gimbal

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
 	)

src/modules/gimbal/Kconfig

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

src/modules/gimbal/common.h

@@ -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 */

src/modules/gimbal/gimbal.cpp

@@ -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();
 }

src/modules/gimbal/gimbal_params.h

@@ -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 */

src/modules/gimbal/input.cpp

@@ -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 */

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 */

src/modules/gimbal/input_mavlink.cpp

@@ -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 */

src/modules/gimbal/input_mavlink.h

@@ -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 */

src/modules/gimbal/input_rc.cpp

@@ -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 */

src/modules/gimbal/input_rc.h

@@ -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 */

src/modules/gimbal/input_test.cpp

@@ -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 */

src/modules/gimbal/input_test.h

@@ -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 */

src/modules/gimbal/output.cpp

@@ -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 */
 

src/modules/gimbal/output.h

@@ -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 */

src/modules/gimbal/output_mavlink.cpp

@@ -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 */

src/modules/gimbal/output_mavlink.h

@@ -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 */

src/modules/gimbal/output_rc.cpp

@@ -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 */

src/modules/gimbal/output_rc.h

@@ -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 */

src/modules/vmount/Kconfig

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