Move gimbal flight mode manager utility to library

src/lib/CMakeLists.txt

@@ -52,6 +52,7 @@ add_subdirectory(dataman_client EXCLUDE_FROM_ALL)
 add_subdirectory(drivers EXCLUDE_FROM_ALL)
 add_subdirectory(field_sensor_bias_estimator EXCLUDE_FROM_ALL)
 add_subdirectory(geo EXCLUDE_FROM_ALL)
+add_subdirectory(gimbal_control EXCLUDE_FROM_ALL)
 add_subdirectory(heatshrink EXCLUDE_FROM_ALL)
 add_subdirectory(hysteresis EXCLUDE_FROM_ALL)
 add_subdirectory(l1 EXCLUDE_FROM_ALL)

src/lib/gimbal_control/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2025 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.
+#
+############################################################################
+
+px4_add_library(gimbal_control Gimbal.cpp)

src/lib/gimbal_control/Gimbal.cpp

@@ -124,3 +124,15 @@ void Gimbal::publishGimbalManagerSetAttitude(const uint16_t gimbal_flags,
 	gimbal_setpoint.timestamp = hrt_absolute_time();
 	_gimbal_manager_set_attitude_pub.publish(gimbal_setpoint);
 }
+
+void Gimbal::setNeutral()
+{
+	vehicle_command_s vehicle_command = {};
+	vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW;
+	vehicle_command.param1 = NAN;
+	vehicle_command.param2 = NAN;
+	vehicle_command.param3 = NAN;
+	vehicle_command.param4 = NAN;
+	vehicle_command.param5 = gimbal_manager_set_attitude_s::GIMBAL_MANAGER_FLAGS_NEUTRAL;
+	_vehicle_command_pub.publish(vehicle_command);
+}

src/lib/gimbal_control/Gimbal.hpp

@@ -33,7 +33,7 @@
 
 /**
  * @file Gimbal.hpp
- * @brief Gimbal interface with flight tasks
+ * @brief Gimbal library to interface with other units
  * @author Pernilla Wikström <pernilla@auterion.com>
  */
 
@@ -47,9 +47,9 @@
 #include <uORB/topics/gimbal_device_attitude_status.h>
 #include <uORB/topics/vehicle_command.h>
 
-#include "Sticks.hpp"
-
-
+/**
+* Fore more information on gimbal v2, see https://mavlink.io/en/services/gimbal_v2.html
+ **/
 class Gimbal : public ModuleParams
 {
 public:
@@ -60,8 +60,19 @@ public:
 	void publishGimbalManagerSetAttitude(const uint16_t gimbal_flags,
 					     const matrix::Quatf &q_gimbal_setpoint,
 					     const matrix::Vector3f &gimbal_rates);
+	/**
+	 * Acquire Gimbal Control Authority to restrict other modules / Ground station
+	 * to control the gimbal until the gimbal is released.
+	 */
 	void acquireGimbalControlIfNeeded();
+
+	/**
+	 * Releases Gimbal Control Authority, to allow other modules / Ground station
+	 * to control the gimbal.
+	 */
 	void releaseGimbalControlIfNeeded();
+
+	void setNeutral();
 	float getTelemetryYaw() { return _telemetry_yaw; }
 	bool allAxesLockedConfirmed() { return _telemetry_flags == FLAGS_ALL_AXES_LOCKED; }
 

src/modules/flight_mode_manager/tasks/Utility/CMakeLists.txt

@@ -36,7 +36,6 @@ px4_add_library(FlightTaskUtility
 	StickAccelerationXY.cpp
 	StickTiltXY.cpp
 	StickYaw.cpp
-	Gimbal.cpp
 )
 
 target_link_libraries(FlightTaskUtility PUBLIC FlightTask hysteresis bezier SlewRate motion_planning mathlib)