Rename vmount to gimbal

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -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

ROMFS/px4fmu_common/init.d/rcS

@@ -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

Tools/kconfig/cmake_kconfig_lut.txt

@@ -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

boards/airmind/mindpx-v2/default.px4board

@@ -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

boards/atl/mantis-edu/default.px4board

@@ -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

boards/av/x-v1/default.px4board

@@ -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

boards/beaglebone/blue/default.px4board

@@ -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

boards/cuav/nora/default.px4board

@@ -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

boards/cuav/x7pro/default.px4board

@@ -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

boards/cubepilot/cubeorange/default.px4board

@@ -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

boards/cubepilot/cubeyellow/default.px4board

@@ -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

boards/emlid/navio2/default.px4board

@@ -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

boards/holybro/durandal-v1/default.px4board

@@ -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

boards/holybro/kakuteh7/default.px4board

@@ -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

boards/holybro/pix32v5/default.px4board

@@ -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

boards/matek/h743-slim/default.px4board

@@ -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

boards/modalai/fc-v1/default.px4board

@@ -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

boards/modalai/fc-v2/default.px4board

@@ -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

boards/mro/ctrl-zero-f7-oem/default.px4board

@@ -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

boards/mro/ctrl-zero-f7/default.px4board

@@ -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

boards/mro/ctrl-zero-h7-oem/default.px4board

@@ -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

boards/mro/ctrl-zero-h7/default.px4board

@@ -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

boards/mro/pixracerpro/default.px4board

@@ -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

boards/mro/x21-777/default.px4board

@@ -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

boards/mro/x21/default.px4board

@@ -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

boards/nxp/fmuk66-e/default.px4board

@@ -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

boards/nxp/fmuk66-v3/default.px4board

@@ -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

boards/nxp/fmurt1062-v1/default.px4board

@@ -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

boards/px4/fmu-v3/default.px4board

@@ -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

boards/px4/fmu-v4/default.px4board

@@ -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

boards/px4/fmu-v4pro/default.px4board

@@ -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

boards/px4/fmu-v5/debug.px4board

@@ -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

boards/px4/fmu-v5/default.px4board

@@ -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

boards/px4/fmu-v5/stackcheck.px4board

@@ -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

boards/px4/fmu-v5x/default.px4board

@@ -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

boards/px4/fmu-v6u/default.px4board

@@ -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

boards/px4/fmu-v6x/default.px4board

@@ -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

boards/px4/raspberrypi/default.px4board

@@ -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

boards/px4/sitl/default.px4board

@@ -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

boards/scumaker/pilotpi/default.px4board

@@ -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

boards/spracing/h7extreme/default.px4board

@@ -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

boards/uvify/core/default.px4board

@@ -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

src/modules/gimbal/CMakeLists.txt

@@ -31,8 +31,8 @@
 #
 ############################################################################
 px4_add_module(
-	MODULE drivers__vmount
+	MODULE drivers__gimbal
-	MAIN vmount
+	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
 	)

src/modules/gimbal/Kconfig

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

src/modules/gimbal/common.h

@@ -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 */

src/modules/gimbal/gimbal.cpp

@@ -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[]);
+static int gimbal_thread_main(int argc, char *argv[]);
-extern "C" __EXPORT int vmount_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();
 }

src/modules/gimbal/gimbal_params.h

@@ -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 */

src/modules/gimbal/input.cpp

@@ -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 */

src/modules/gimbal/input.h

@@ -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 */