move vmount to modules (it's not a driver)

src/modules/vmount/input_rc.h

@@ -0,0 +1,93 @@
+/****************************************************************************
+*
+*   Copyright (c) 2016-2017 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_rc.h
+ * @author Beat Küng <beat-kueng@gmx.net>
+ *
+ */
+
+#pragma once
+
+#include "input.h"
+#include <uORB/topics/manual_control_setpoint.h>
+
+namespace vmount
+{
+
+class InputMavlinkROI;
+class InputMavlinkCmdMount;
+
+/**
+ ** class InputRC
+ * RC input class using manual_control_setpoint topic
+ */
+class InputRC : public InputBase
+{
+public:
+
+	/**
+	 * @param do_stabilization
+	 * @param aux_channel_roll   which aux channel to use for roll (set to 0 to use a fixed angle of 0)
+	 * @param aux_channel_pitch
+	 * @param aux_channel_yaw
+	 */
+	InputRC(bool do_stabilization, int aux_channel_roll, int aux_channel_pitch, int aux_channel_yaw);
+	virtual ~InputRC();
+
+	virtual void print_status();
+
+protected:
+	virtual int update_impl(unsigned int timeout_ms, ControlData **control_data, bool already_active);
+	virtual int initialize();
+
+	/**
+	 * @return true if there was a change in control data
+	 */
+	virtual bool _read_control_data_from_subscription(ControlData &control_data, bool already_active);
+
+	int _get_subscription_fd() const { return _manual_control_setpoint_sub; }
+
+	float _get_aux_value(const manual_control_setpoint_s &manual_control_setpoint, int channel_idx);
+
+private:
+	const bool _do_stabilization;
+	int _aux_channels[3];
+	int _manual_control_setpoint_sub = -1;
+
+	bool _first_time = true;
+	float _last_set_aux_values[3] = {};
+};
+
+
+} /* namespace vmount */