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AP_Mount: fix for Siyi A8 #22313

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merged 2 commits into from
Nov 30, 2022
Merged

AP_Mount: fix for Siyi A8 #22313

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d5c6cc9
AP_Mount: fix for Siyi A8
rmackay9 Nov 29, 2022
8e9403c
AP_Mount: fix siyi version display
rmackay9 Nov 29, 2022
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27 changes: 16 additions & 11 deletions libraries/AP_Mount/AP_Mount_Siyi.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -294,7 +294,8 @@ void AP_Mount_Siyi::process_packet()
switch ((SiyiCommandId)_parsed_msg.command_id) {

case SiyiCommandId::ACQUIRE_FIRMWARE_VERSION: {
if (_parsed_msg.data_bytes_received != 12) {
if (_parsed_msg.data_bytes_received != 12 && // ZR10 firmware version reply is 12bytes
_parsed_msg.data_bytes_received != 8) { // A8 firmware version reply is 8 bytes
#if AP_MOUNT_SIYI_DEBUG
unexpected_len = true;
#endif
Expand All @@ -304,21 +305,25 @@ void AP_Mount_Siyi::process_packet()

// display camera firmware version
debug("Mount: SiyiCam fw:%u.%u.%u",
(unsigned)_msg_buff[_msg_buff_data_start+1], // firmware major version
(unsigned)_msg_buff[_msg_buff_data_start+2], // firmware minor version
(unsigned)_msg_buff[_msg_buff_data_start+3]); // firmware revision
(unsigned)_msg_buff[_msg_buff_data_start+2], // firmware major version
(unsigned)_msg_buff[_msg_buff_data_start+1], // firmware minor version
(unsigned)_msg_buff[_msg_buff_data_start+0]); // firmware revision

// display gimbal info to user
gcs().send_text(MAV_SEVERITY_INFO, "Mount: Siyi fw:%u.%u.%u",
(unsigned)_msg_buff[_msg_buff_data_start+5], // firmware major version
(unsigned)_msg_buff[_msg_buff_data_start+6], // firmware minor version
(unsigned)_msg_buff[_msg_buff_data_start+7]); // firmware revision
(unsigned)_msg_buff[_msg_buff_data_start+6], // firmware major version
(unsigned)_msg_buff[_msg_buff_data_start+5], // firmware minor version
(unsigned)_msg_buff[_msg_buff_data_start+4]); // firmware revision

// display zoom firmware version
debug("Mount: SiyiZoom fw:%u.%u.%u",
(unsigned)_msg_buff[_msg_buff_data_start+9], // firmware major version
(unsigned)_msg_buff[_msg_buff_data_start+10], // firmware minor version
(unsigned)_msg_buff[_msg_buff_data_start+11]); // firmware revision
#if AP_MOUNT_SIYI_DEBUG
if (_parsed_msg.data_bytes_received >= 12) {
debug("Mount: SiyiZoom fw:%u.%u.%u",
(unsigned)_msg_buff[_msg_buff_data_start+10], // firmware major version
(unsigned)_msg_buff[_msg_buff_data_start+9], // firmware minor version
(unsigned)_msg_buff[_msg_buff_data_start+8]); // firmware revision
}
#endif
break;
}

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