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AP_Mount: Siyi fix for record ON OFF reporting

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Randy Mackay 2022-12-09 14:18:08 +09:00 committed by Andrew Tridgell
parent d0ffe054a1
commit f2f4835647
1 changed files with 8 additions and 7 deletions
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15
libraries/AP_Mount/AP_Mount_Siyi.cpp
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@ -47,14 +47,17 @@ void AP_Mount_Siyi::update()
// reading incoming packets from gimbal
read_incoming_packets();
// request firmware version at 1hz
// request firmware version during startup at 1hz
// during regular operation request configuration at 1hz
uint32_t now_ms = AP_HAL::millis();
if (!_got_firmware_version) {
if ((now_ms - _last_send_ms) >= 1000) {
if ((now_ms - _last_send_ms) >= 1000) {
_last_send_ms = now_ms;
if (!_got_firmware_version) {
request_firmware_version();
_last_send_ms = now_ms;
return;
} else {
request_configuration();
}
return;
}
// request attitude at regular intervals
@ -597,8 +600,6 @@ bool AP_Mount_Siyi::record_video(bool start_recording)
// check desired recording state has changed
bool ret = true;
if (_last_record_video != start_recording) {
_last_record_video = start_recording;
// request recording start or stop (sadly the same message is used)
const uint8_t func_type = (uint8_t)PhotoFunction::RECORD_VIDEO_TOGGLE;
ret = send_packet(SiyiCommandId::PHOTO, &func_type, 1);