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AP_Mount: serial backends gets instance

This commit is contained in:
Randy Mackay 2024-05-22 12:41:57 +09:00 committed by Andrew Tridgell
parent 99626b73ff
commit 72b5efd8b3
1 changed files with 9 additions and 3 deletions
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12
libraries/AP_Mount/AP_Mount.cpp
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@ -62,6 +62,9 @@ void AP_Mount::init()
// primary is reset to the first instantiated mount
bool primary_set = false;
// keep track of number of serial instances for initialisation
uint8_t serial_instance = 0;
// create each instance
for (uint8_t instance=0; instance<AP_MOUNT_MAX_INSTANCES; instance++) {
switch (get_mount_type(instance)) {
@ -98,8 +101,9 @@ void AP_Mount::init()
#if HAL_MOUNT_STORM32SERIAL_ENABLED
// check for SToRM32 mounts using serial protocol
case Type::SToRM32_serial:
_backends[instance] = new AP_Mount_SToRM32_serial(*this, _params[instance], instance);
_backends[instance] = new AP_Mount_SToRM32_serial(*this, _params[instance], instance, serial_instance);
_num_instances++;
serial_instance++;
break;
#endif
@ -122,8 +126,9 @@ void AP_Mount::init()
#if HAL_MOUNT_SIYI_ENABLED
// check for Siyi gimbal
case Type::Siyi:
_backends[instance] = new AP_Mount_Siyi(*this, _params[instance], instance);
_backends[instance] = new AP_Mount_Siyi(*this, _params[instance], instance, serial_instance);
_num_instances++;
serial_instance++;
break;
#endif // HAL_MOUNT_SIYI_ENABLED
@ -146,8 +151,9 @@ void AP_Mount::init()
#if HAL_MOUNT_VIEWPRO_ENABLED
// check for Xacti gimbal
case Type::Viewpro:
_backends[instance] = new AP_Mount_Viewpro(*this, _params[instance], instance);
_backends[instance] = new AP_Mount_Viewpro(*this, _params[instance], instance, serial_instance);
_num_instances++;
serial_instance++;
break;
#endif // HAL_MOUNT_VIEWPRO_ENABLED
}