Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Mount: Siyi waits for non-zero cam firmware version

This commit is contained in:
Randy Mackay 2024-02-08 15:22:21 +09:00 committed by Peter Barker
parent 4bcac076f6
commit 0fca670f85
1 changed files with 7 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AP_Mount/AP_Mount_Siyi.cpp
View File

@ -353,11 +353,16 @@ void AP_Mount_Siyi::process_packet()
_fw_version.camera.major = _msg_buff[_msg_buff_data_start+2]; // firmware major version _fw_version.camera.major = _msg_buff[_msg_buff_data_start+2]; // firmware major version
_fw_version.camera.minor = _msg_buff[_msg_buff_data_start+1]; // firmware minor version _fw_version.camera.minor = _msg_buff[_msg_buff_data_start+1]; // firmware minor version
_fw_version.camera.patch = _msg_buff[_msg_buff_data_start+0]; // firmware revision (aka patch) _fw_version.camera.patch = _msg_buff[_msg_buff_data_start+0]; // firmware revision (aka patch)
_fw_version.gimbal.major = _msg_buff[_msg_buff_data_start+6]; // firmware major version _fw_version.gimbal.major = _msg_buff[_msg_buff_data_start+6]; // firmware major version
_fw_version.gimbal.minor = _msg_buff[_msg_buff_data_start+5]; // firmware minor version _fw_version.gimbal.minor = _msg_buff[_msg_buff_data_start+5]; // firmware minor version
_fw_version.gimbal.patch = _msg_buff[_msg_buff_data_start+4]; // firmware revision (aka patch) _fw_version.gimbal.patch = _msg_buff[_msg_buff_data_start+4]; // firmware revision (aka patch)
// camera firmware version may be all zero soon after startup. giveup and try again later
if (_fw_version.camera.major == 0 && _fw_version.camera.minor == 0 && _fw_version.camera.patch == 0) {
break;
}
_fw_version.received = true; _fw_version.received = true;
// display camera info to user // display camera info to user