From 3439ced236e589b77f29a2ddcc2b3767488c06a0 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 21 May 2024 16:04:53 +0900
Subject: [PATCH] AP_Mount: add Siyi ZT6 support

---
 libraries/AP_Mount/AP_Mount_Siyi.cpp | 6 +++++-
 libraries/AP_Mount/AP_Mount_Siyi.h   | 1 +
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp
index 77704637dc..06316268ad 100644
--- a/libraries/AP_Mount/AP_Mount_Siyi.cpp
+++ b/libraries/AP_Mount/AP_Mount_Siyi.cpp
@@ -28,6 +28,7 @@ const AP_Mount_Siyi::HWInfo AP_Mount_Siyi::hardware_lookup_table[] {
         {{'7','3'}, "A8"},
         {{'6','B'}, "ZR10"},
         {{'7','8'}, "ZR30"},
+        {{'8','2'}, "ZT6"},
         {{'7','A'}, "ZT30"},
 };
 
@@ -812,7 +813,8 @@ float AP_Mount_Siyi::get_zoom_mult_max() const
         return 0;
     case HardwareModel::A2:
     case HardwareModel::A8:
-        // a8 has 6x digital zoom
+    case HardwareModel::ZT6:
+        // a8, zt6 have 6x digital zoom
         return 6;
     case HardwareModel::ZR10:
     case HardwareModel::ZR30:
@@ -1030,6 +1032,7 @@ void AP_Mount_Siyi::send_camera_information(mavlink_channel_t chan) const
     case HardwareModel::UNKNOWN:
     case HardwareModel::A2:
     case HardwareModel::A8:
+    case HardwareModel::ZT6:
         focal_length_mm = 21;
         break;
     case HardwareModel::ZR10:
@@ -1137,6 +1140,7 @@ void AP_Mount_Siyi::check_firmware_version() const
         case HardwareModel::A2:
         case HardwareModel::ZR10:
         case HardwareModel::ZR30:
+        case HardwareModel::ZT6:
         case HardwareModel::ZT30:
             // TBD
             break;
diff --git a/libraries/AP_Mount/AP_Mount_Siyi.h b/libraries/AP_Mount/AP_Mount_Siyi.h
index c6366e6b29..957c9f8c44 100644
--- a/libraries/AP_Mount/AP_Mount_Siyi.h
+++ b/libraries/AP_Mount/AP_Mount_Siyi.h
@@ -163,6 +163,7 @@ private:
         A8,
         ZR10,
         ZR30,
+        ZT6,
         ZT30
     } _hardware_model;