From 790b5e85659851c227e4252a8879661087b5ebac Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 22 May 2024 10:13:27 +0900
Subject: [PATCH] AP_Mount: Siyi inherits from serial backend

---
 libraries/AP_Mount/AP_Mount_Siyi.cpp | 15 ---------------
 libraries/AP_Mount/AP_Mount_Siyi.h   | 11 +++--------
 2 files changed, 3 insertions(+), 23 deletions(-)

diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp
index 3f00d1caa0..77704637dc 100644
--- a/libraries/AP_Mount/AP_Mount_Siyi.cpp
+++ b/libraries/AP_Mount/AP_Mount_Siyi.cpp
@@ -5,7 +5,6 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include <GCS_MAVLink/GCS.h>
 #include <GCS_MAVLink/include/mavlink/v2.0/checksum.h>
-#include <AP_SerialManager/AP_SerialManager.h>
 #include <AP_RTC/AP_RTC.h>
 
 extern const AP_HAL::HAL& hal;
@@ -32,20 +31,6 @@ const AP_Mount_Siyi::HWInfo AP_Mount_Siyi::hardware_lookup_table[] {
         {{'7','A'}, "ZT30"},
 };
 
-// init - performs any required initialisation for this instance
-void AP_Mount_Siyi::init()
-{
-    const AP_SerialManager& serial_manager = AP::serialmanager();
-
-    _uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Gimbal, 0);
-    if (_uart == nullptr) {
-        return;
-    }
-
-    _initialised = true;
-    AP_Mount_Backend::init();
-}
-
 // update mount position - should be called periodically
 void AP_Mount_Siyi::update()
 {
diff --git a/libraries/AP_Mount/AP_Mount_Siyi.h b/libraries/AP_Mount/AP_Mount_Siyi.h
index 75a03efda3..c6366e6b29 100644
--- a/libraries/AP_Mount/AP_Mount_Siyi.h
+++ b/libraries/AP_Mount/AP_Mount_Siyi.h
@@ -19,7 +19,7 @@
 
 #pragma once
 
-#include "AP_Mount_Backend.h"
+#include "AP_Mount_Backend_Serial.h"
 
 #if HAL_MOUNT_SIYI_ENABLED
 
@@ -29,19 +29,16 @@
 
 #define AP_MOUNT_SIYI_PACKETLEN_MAX     38  // maximum number of bytes in a packet sent to or received from the gimbal
 
-class AP_Mount_Siyi : public AP_Mount_Backend
+class AP_Mount_Siyi : public AP_Mount_Backend_Serial
 {
 
 public:
     // Constructor
-    using AP_Mount_Backend::AP_Mount_Backend;
+    using AP_Mount_Backend_Serial::AP_Mount_Backend_Serial;
 
     /* Do not allow copies */
     CLASS_NO_COPY(AP_Mount_Siyi);
 
-    // init - performs any required initialisation for this instance
-    void init() override;
-
     // update mount position - should be called periodically
     void update() override;
 
@@ -293,8 +290,6 @@ private:
     void check_firmware_version() const;
 
     // internal variables
-    AP_HAL::UARTDriver *_uart;                      // uart connected to gimbal
-    bool _initialised;                              // true once the driver has been initialised
     bool _got_hardware_id;                          // true once hardware id ha been received
 
     FirmwareVersion _fw_version;                    // firmware version (for reporting for GCS)