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AP_Mount: Siyi inherits from serial backend

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Randy Mackay 2024-05-22 10:13:27 +09:00 committed by Andrew Tridgell
parent 1e777390b2
commit 790b5e8565
2 changed files with 3 additions and 23 deletions
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15
libraries/AP_Mount/AP_Mount_Siyi.cpp
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@ -5,7 +5,6 @@
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <GCS_MAVLink/include/mavlink/v2.0/checksum.h> #include <GCS_MAVLink/include/mavlink/v2.0/checksum.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_RTC/AP_RTC.h> #include <AP_RTC/AP_RTC.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -32,20 +31,6 @@ const AP_Mount_Siyi::HWInfo AP_Mount_Siyi::hardware_lookup_table[] {
{{'7','A'}, "ZT30"}, {{'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 // update mount position - should be called periodically
void AP_Mount_Siyi::update() void AP_Mount_Siyi::update()
{ {

11
libraries/AP_Mount/AP_Mount_Siyi.h
View File

@ -19,7 +19,7 @@
#pragma once #pragma once
#include "AP_Mount_Backend.h" #include "AP_Mount_Backend_Serial.h"
#if HAL_MOUNT_SIYI_ENABLED #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 #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: public:
// Constructor // Constructor
using AP_Mount_Backend::AP_Mount_Backend; using AP_Mount_Backend_Serial::AP_Mount_Backend_Serial;
/* Do not allow copies */ /* Do not allow copies */
CLASS_NO_COPY(AP_Mount_Siyi); CLASS_NO_COPY(AP_Mount_Siyi);
// init - performs any required initialisation for this instance
void init() override;
// update mount position - should be called periodically // update mount position - should be called periodically
void update() override; void update() override;
@ -293,8 +290,6 @@ private:
void check_firmware_version() const; void check_firmware_version() const;
// internal variables // 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 bool _got_hardware_id; // true once hardware id ha been received
FirmwareVersion _fw_version; // firmware version (for reporting for GCS) FirmwareVersion _fw_version; // firmware version (for reporting for GCS)