vmount: refactor architecture & use C++

This splits vmount into inputs and outputs modules with a small API in
between. It allows for greater flexibility, as any input method can be
combined with any output method. At the same time it is easy to add a new
input or output module.

src/drivers/vmount/output_rc.cpp

@@ -0,0 +1,90 @@
+/****************************************************************************
+*
+*   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 output_rc.cpp
+ * @author Leon Müller (thedevleon)
+ * @author Beat Küng <beat-kueng@gmx.net>
+ *
+ */
+
+#include "output_rc.h"
+
+#include <uORB/topics/actuator_controls.h>
+#include <px4_defines.h>
+
+
+namespace vmount
+{
+
+OutputRC::OutputRC(const OutputConfig &output_config)
+	: OutputBase(output_config)
+{
+}
+
+int OutputRC::update(const ControlData *control_data)
+{
+	if (control_data) {
+		//got new command
+		_retract_gimbal = control_data->gimbal_shutter_retract;
+		_set_angle_setpoints(control_data);
+	}
+
+	_handle_position_update();
+
+	hrt_abstime t = hrt_absolute_time();
+	_calculate_output_angles(t);
+
+	actuator_controls_s actuator_controls;
+	actuator_controls.timestamp = hrt_absolute_time();
+	actuator_controls.control[0] = _angle_outputs[0] / M_PI_F;
+	actuator_controls.control[1] = _angle_outputs[1] / M_PI_F;
+	actuator_controls.control[2] = _angle_outputs[2] / M_PI_F;
+	actuator_controls.control[3] = _retract_gimbal ? _config.gimbal_retracted_mode_value : _config.gimbal_normal_mode_value;
+
+	int instance;
+	orb_publish_auto(ORB_ID(actuator_controls_2), &_actuator_controls_pub, &actuator_controls,
+			 &instance, ORB_PRIO_DEFAULT);
+
+	_last_update = t;
+
+	return 0;
+}
+
+void OutputRC::print_status()
+{
+	PX4_INFO("Output: AUX");
+}
+
+} /* namespace vmount */
+