Rename vmount to gimbal

src/modules/gimbal/output_rc.h

@@ -0,0 +1,65 @@
+/****************************************************************************
+*
+*   Copyright (c) 2016-2022 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.
+*
+****************************************************************************/
+
+
+#pragma once
+
+#include "output.h"
+
+#include <uORB/Publication.hpp>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/gimbal_device_attitude_status.h>
+
+namespace gimbal
+{
+
+class OutputRC : public OutputBase
+{
+public:
+	OutputRC() = delete;
+	explicit OutputRC(const Parameters &parameters);
+	virtual ~OutputRC() = default;
+
+	virtual void update(const ControlData &control_data, bool new_setpoints);
+	virtual void print_status() const;
+
+private:
+	void _stream_device_attitude_status();
+
+	uORB::Publication <actuator_controls_s>	_actuator_controls_pub{ORB_ID(actuator_controls_2)};
+	uORB::Publication <gimbal_device_attitude_status_s>	_attitude_status_pub{ORB_ID(gimbal_device_attitude_status)};
+
+	bool _retract_gimbal = true;
+};
+
+} /* namespace gimbal */