From 2c366bf3d770f23a32440591452aa334fb22d8a3 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 9 Dec 2022 14:06:25 +0900
Subject: [PATCH] AP_Mount: siyi a8 fix for gimbal-config-info message

Siyi A8 uses a different format from Z10 for this message
---
 libraries/AP_Mount/AP_Mount_Siyi.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp
index bd07d4260c..d8f6f76bbd 100644
--- a/libraries/AP_Mount/AP_Mount_Siyi.cpp
+++ b/libraries/AP_Mount/AP_Mount_Siyi.cpp
@@ -376,7 +376,8 @@ void AP_Mount_Siyi::process_packet()
         break;
 
     case SiyiCommandId::ACQUIRE_GIMBAL_CONFIG_INFO: {
-        if (_parsed_msg.data_bytes_received != 5) {
+        if (_parsed_msg.data_bytes_received != 5 &&     // ZR10 firmware version reply is 5 bytes
+            _parsed_msg.data_bytes_received != 7) {     // A8 firmware version reply is 7 bytes
             unexpected_len = true;
             break;
         }