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Mount: Siyi waits for non-zero cam firmware version

This commit is contained in:
Randy Mackay 2024-02-08 15:22:21 +09:00
parent 7a9e02e18d
commit 1c41244fe5
1 changed files with 7 additions and 2 deletions
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9
libraries/AP_Mount/AP_Mount_Siyi.cpp
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@ -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.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.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.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;
// display camera info to user