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AP_Mount: In Siyi, rename _firmware_version member to _fw_version (NFC)

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This commit is contained in:
Nick Exton 2023-09-08 12:03:30 +10:00 committed by Randy Mackay
parent 8b7b265e9f
commit fd6242964a
2 changed files with 18 additions and 18 deletions
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34
libraries/AP_Mount/AP_Mount_Siyi.cpp
View File

@ -60,7 +60,7 @@ void AP_Mount_Siyi::update()
uint32_t now_ms = AP_HAL::millis();
if ((now_ms - _last_send_ms) >= 1000) {
_last_send_ms = now_ms;
if (!_firmware_version.received) {
if (!_fw_version.received) {
request_firmware_version();
return;
} else if (!_got_hardware_id) {
@ -164,7 +164,7 @@ void AP_Mount_Siyi::update()
bool AP_Mount_Siyi::healthy() const
{
// unhealthy until gimbal has been found and replied with firmware version info
if (!_initialised || !_firmware_version.received) {
if (!_initialised || !_fw_version.received) {
return false;
}
@ -327,7 +327,7 @@ void AP_Mount_Siyi::process_packet()
}
// consume and display camera firmware version
_firmware_version = {
_fw_version = {
.camera = {
.major = _msg_buff[_msg_buff_data_start+2], // firmware major version
.minor = _msg_buff[_msg_buff_data_start+1], // firmware minor version
@ -343,25 +343,25 @@ void AP_Mount_Siyi::process_packet()
// display camera info to user
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mount: Siyi camera fw v%u.%u.%u",
(unsigned)_firmware_version.camera.major,
(unsigned)_firmware_version.camera.minor,
(unsigned)_firmware_version.camera.patch);
_fw_version.camera.major,
_fw_version.camera.minor,
_fw_version.camera.patch);
// display gimbal info to user
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mount: Siyi gimbal fw v%u.%u.%u",
(unsigned)_firmware_version.gimbal.major,
(unsigned)_firmware_version.gimbal.minor,
(unsigned)_firmware_version.gimbal.patch);
_fw_version.gimbal.major,
_fw_version.gimbal.minor,
_fw_version.gimbal.patch);
// display zoom firmware version for those that have it
if (_parsed_msg.data_bytes_received >= 12) {
_firmware_version.zoom.major = _msg_buff[_msg_buff_data_start+10];
_firmware_version.zoom.minor = _msg_buff[_msg_buff_data_start+ 9];
_firmware_version.zoom.patch = _msg_buff[_msg_buff_data_start+ 8];
_fw_version.zoom.major = _msg_buff[_msg_buff_data_start+10];
_fw_version.zoom.minor = _msg_buff[_msg_buff_data_start+ 9];
_fw_version.zoom.patch = _msg_buff[_msg_buff_data_start+ 8];
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mount: Siyi zoom fw v%u.%u.%u",
(unsigned)_firmware_version.zoom.major,
(unsigned)_firmware_version.zoom.minor,
(unsigned)_firmware_version.zoom.patch);
_fw_version.zoom.major,
_fw_version.zoom.minor,
_fw_version.zoom.patch);
}
break;
}
@ -869,13 +869,13 @@ bool AP_Mount_Siyi::set_lens(uint8_t lens)
void AP_Mount_Siyi::send_camera_information(mavlink_channel_t chan) const
{
// exit immediately if not initialised
if (!_initialised || !_firmware_version.received) {
if (!_initialised || !_fw_version.received) {
return;
}
static const uint8_t vendor_name[32] = "Siyi";
static uint8_t model_name[32] {};
const uint32_t fw_version = _firmware_version.camera.major | (_firmware_version.camera.minor << 8) | (_firmware_version.camera.patch << 16);
const uint32_t fw_version = _fw_version.camera.major | (_fw_version.camera.minor << 8) | (_fw_version.camera.patch << 16);
const char cam_definition_uri[140] {};
// copy model name

2
libraries/AP_Mount/AP_Mount_Siyi.h
View File

@ -246,7 +246,7 @@ private:
bool _initialised; // true once the driver has been initialised
bool _got_hardware_id; // true once hardware id ha been received
FirmwareVersion _firmware_version; // firmware version (for reporting for GCS)
FirmwareVersion _fw_version; // firmware version (for reporting for GCS)
// buffer holding bytes from latest packet. This is only used to calculate the crc
uint8_t _msg_buff[AP_MOUNT_SIYI_PACKETLEN_MAX];