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Rename vmount to gimbal

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This commit is contained in:
Julian Oes
2022-02-04 15:26:48 +01:00
committed by Daniel Agar
parent 853047c643
commit 490a0c473b
63 changed files with 106 additions and 106 deletions
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2
ROMFS/px4fmu_common/init.d-posix/rcS
View File

@@ -234,7 +234,7 @@ fi
if param greater -s MNT_MODE_IN -1
then
vmount start
gimbal start
fi
if param greater -s TRIG_MODE 0

4
ROMFS/px4fmu_common/init.d/rcS
View File

@@ -486,11 +486,11 @@ else
. ${R}etc/init.d/rc.thermal_cal
#
# Start vmount to control mounts such as gimbals, disabled by default.
# Start gimbal to control mounts such as gimbals, disabled by default.
#
if param greater -s MNT_MODE_IN -1
then
vmount start
gimbal start
fi
# Check for flow sensor

2
Tools/kconfig/cmake_kconfig_lut.txt
View File

@@ -150,7 +150,7 @@ simulator,CONFIG_MODULES_SIMULATOR=y
temperature_compensation,CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
uuv_att_control,CONFIG_MODULES_UUV_ATT_CONTROL=y
uuv_pos_control,CONFIG_MODULES_UUV_POS_CONTROL=y
vmount,CONFIG_MODULES_VMOUNT=y
gimbal,CONFIG_MODULES_GIMBAL=y
vtol_att_control,CONFIG_MODULES_VTOL_ATT_CONTROL=y
bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
dmesg,CONFIG_SYSTEMCMDS_DMESG=y

2
boards/airmind/mindpx-v2/default.px4board
View File

@@ -74,7 +74,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/atl/mantis-edu/default.px4board
View File

@@ -31,7 +31,7 @@ CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIH=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_DMESG=y

2
boards/av/x-v1/default.px4board
View File

@@ -71,7 +71,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/beaglebone/blue/default.px4board
View File

@@ -56,7 +56,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_DYN=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y

2
boards/cuav/nora/default.px4board
View File

@@ -76,7 +76,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/cuav/x7pro/default.px4board
View File

@@ -77,7 +77,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/cubepilot/cubeorange/default.px4board
View File

@@ -72,7 +72,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/cubepilot/cubeyellow/default.px4board
View File

@@ -74,7 +74,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/emlid/navio2/default.px4board
View File

@@ -58,7 +58,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_DYN=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y

2
boards/holybro/durandal-v1/default.px4board
View File

@@ -69,7 +69,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/holybro/kakuteh7/default.px4board
View File

@@ -62,7 +62,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/holybro/pix32v5/default.px4board
View File

@@ -79,7 +79,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/matek/h743-slim/default.px4board
View File

@@ -52,7 +52,7 @@ CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_DMESG=y

2
boards/modalai/fc-v1/default.px4board
View File

@@ -74,7 +74,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/modalai/fc-v2/default.px4board
View File

@@ -70,7 +70,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/mro/ctrl-zero-f7-oem/default.px4board
View File

@@ -72,7 +72,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/mro/ctrl-zero-f7/default.px4board
View File

@@ -72,7 +72,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/mro/ctrl-zero-h7-oem/default.px4board
View File

@@ -71,7 +71,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y

2
boards/mro/ctrl-zero-h7/default.px4board
View File

@@ -72,7 +72,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y

2
boards/mro/pixracerpro/default.px4board
View File

@@ -70,7 +70,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/mro/x21-777/default.px4board
View File

@@ -73,7 +73,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/mro/x21/default.px4board
View File

@@ -74,7 +74,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/nxp/fmuk66-e/default.px4board
View File

@@ -72,7 +72,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_I2CDETECT=y

2
boards/nxp/fmuk66-v3/default.px4board
View File

@@ -76,7 +76,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_I2CDETECT=y

2
boards/nxp/fmurt1062-v1/default.px4board
View File

@@ -48,7 +48,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_I2CDETECT=y

2
boards/px4/fmu-v3/default.px4board
View File

@@ -77,7 +77,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/px4/fmu-v4/default.px4board
View File

@@ -78,7 +78,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/px4/fmu-v4pro/default.px4board
View File

@@ -75,7 +75,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/px4/fmu-v5/debug.px4board
View File

@@ -32,7 +32,7 @@ CONFIG_MODULES_SIH=n
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
CONFIG_MODULES_UUV_ATT_CONTROL=n
CONFIG_MODULES_UUV_POS_CONTROL=n
CONFIG_MODULES_VMOUNT=n
CONFIG_MODULES_GIMBAL=n
CONFIG_SYSTEMCMDS_SERIAL_TEST=n
CONFIG_BOARD_CONSTRAINED_FLASH=y
CONFIG_BOARD_TESTING=y

2
boards/px4/fmu-v5/default.px4board
View File

@@ -80,7 +80,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y

2
boards/px4/fmu-v5/stackcheck.px4board
View File

@@ -28,6 +28,6 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
CONFIG_MODULES_ROVER_POS_CONTROL=n
CONFIG_MODULES_SIH=n
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
CONFIG_MODULES_VMOUNT=n
CONFIG_MODULES_GIMBAL=n
CONFIG_BOARD_CONSTRAINED_FLASH=y
CONFIG_BOARD_TESTING=y

2
boards/px4/fmu-v5x/default.px4board
View File

@@ -80,7 +80,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y

2
boards/px4/fmu-v6u/default.px4board
View File

@@ -72,7 +72,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/px4/fmu-v6x/default.px4board
View File

@@ -68,7 +68,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

2
boards/px4/raspberrypi/default.px4board
View File

@@ -55,7 +55,7 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_DYN=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y

2
boards/px4/sitl/default.px4board
View File

@@ -43,7 +43,7 @@ CONFIG_MODULES_SIMULATOR=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_DYN=y

2
boards/scumaker/pilotpi/default.px4board
View File

@@ -53,7 +53,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_DYN=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y

2
boards/spracing/h7extreme/default.px4board
View File

@@ -39,7 +39,7 @@ CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

2
boards/uvify/core/default.px4board
View File

@@ -59,7 +59,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VMOUNT=y
CONFIG_MODULES_GIMBAL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_DMESG=y

6
src/modules/vmount/CMakeLists.txt → src/modules/gimbal/CMakeLists.txt
View File

@@ -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
)

5
src/modules/gimbal/Kconfig Normal file
View File

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

6
src/modules/vmount/common.h → src/modules/gimbal/common.h
View File

@@ -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 */

26
src/modules/vmount/vmount.cpp → src/modules/gimbal/gimbal.cpp
View File

@@ -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();
}

0
src/modules/vmount/vmount_params.c → src/modules/gimbal/gimbal_params.c
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4
src/modules/vmount/vmount_params.h → src/modules/gimbal/gimbal_params.h
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@@ -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 */

4
src/modules/vmount/input.cpp → src/modules/gimbal/input.cpp
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@@ -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 */

6
src/modules/vmount/input.h → src/modules/gimbal/input.h
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@@ -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 */

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