aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Mount: Siyi fix for record ON OFF reporting

Browse Source
This commit is contained in:
Randy Mackay 2022-12-09 14:18:08 +09:00
parent aa9c8b1d81
commit 1bde74f68f
1 changed files with 8 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
libraries/AP_Mount/AP_Mount_Siyi.cpp
View File

@ -47,14 +47,17 @@ void AP_Mount_Siyi::update()
// reading incoming packets from gimbal // reading incoming packets from gimbal
read_incoming_packets(); 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(); 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(); request_firmware_version();
_last_send_ms = now_ms; return;
} else {
request_configuration();
} }
return;
} }
// request attitude at regular intervals // request attitude at regular intervals
@ -597,8 +600,6 @@ bool AP_Mount_Siyi::record_video(bool start_recording)
// check desired recording state has changed // check desired recording state has changed
bool ret = true; bool ret = true;
if (_last_record_video != start_recording) { if (_last_record_video != start_recording) {
_last_record_video = start_recording;
// request recording start or stop (sadly the same message is used) // request recording start or stop (sadly the same message is used)
const uint8_t func_type = (uint8_t)PhotoFunction::RECORD_VIDEO_TOGGLE; const uint8_t func_type = (uint8_t)PhotoFunction::RECORD_VIDEO_TOGGLE;
ret = send_packet(SiyiCommandId::PHOTO, &func_type, 1); ret = send_packet(SiyiCommandId::PHOTO, &func_type, 1);