From 33542c0c1d6418c2de909e3573763ee4212ab845 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 28 Aug 2023 20:21:18 +0900
Subject: [PATCH] AP_Mount: Siyi absolute zoom simplification

---
 libraries/AP_Mount/AP_Mount_Siyi.cpp | 46 +++++-----------------------
 libraries/AP_Mount/AP_Mount_Siyi.h   |  2 --
 2 files changed, 7 insertions(+), 41 deletions(-)

diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp
index 4bec384720..d91ca6558b 100644
--- a/libraries/AP_Mount/AP_Mount_Siyi.cpp
+++ b/libraries/AP_Mount/AP_Mount_Siyi.cpp
@@ -713,23 +713,11 @@ bool AP_Mount_Siyi::set_zoom(ZoomType zoom_type, float zoom_value)
         if (is_positive(zoom_mult_max)) {
             // convert zoom percentage (0~100) to target zoom multiple (e.g. 0~6x or 0~30x)
             const float zoom_mult = linear_interpolate(1, zoom_mult_max, zoom_value, 0, 100);
-            switch (_hardware_model) {
-            case HardwareModel::UNKNOWN:
-                // unknown model
-                return false;
-            case HardwareModel::A8:
-                // set internal zoom control target
+            if (send_zoom_mult(zoom_mult)) {
                 _zoom_type = zoom_type;
-                _zoom_mult_target = zoom_mult;
                 return true;
-            case HardwareModel::ZR10:
-                if (send_zoom_mult(zoom_mult)) {
-                    _zoom_type = zoom_type;
-                    _zoom_mult_target = 0;
-                    return true;
-                }
-                return false;
             }
+            return false;
         }
         return false;
     }
@@ -742,39 +730,19 @@ bool AP_Mount_Siyi::set_zoom(ZoomType zoom_type, float zoom_value)
 // update zoom controller
 void AP_Mount_Siyi::update_zoom_control()
 {
-    const uint32_t now_ms = AP_HAL::millis();
-    const uint32_t update_diff_ms = now_ms - _last_zoom_control_ms;
-
-    switch (_zoom_type) {
-    case ZoomType::RATE:
+    if (_zoom_type == ZoomType::RATE) {
         // limit updates to 1hz
-        if (update_diff_ms < 1000) {
+        const uint32_t now_ms = AP_HAL::millis();
+        if (now_ms - _last_zoom_control_ms < 1000) {
             return;
         }
+        _last_zoom_control_ms = now_ms;
+
         // only send zoom rate target if it's non-zero because if zero it has already been sent
         // and sending zero rate also triggers autofocus
         if (!is_zero(_zoom_rate_target)) {
             send_zoom_rate(_zoom_rate_target);
         }
-        _last_zoom_control_ms = now_ms;
-        return;
-    case ZoomType::PCT:
-        // limit updates to 20hz and only when we have a zoom target
-        if (!is_positive(_zoom_mult_target) || (update_diff_ms < 50)) {
-            return;
-        }
-        // zoom towards target zoom multiple
-        if (_zoom_mult_target > _zoom_mult + 0.1f) {
-            send_zoom_rate(1);
-        } else if (_zoom_mult_target < _zoom_mult - 0.1f) {
-            send_zoom_rate(-1);
-        } else {
-            send_zoom_rate(0);
-            _zoom_mult_target = 0;
-        }
-        _last_zoom_control_ms = now_ms;
-        debug("Siyi zoom targ:%f act:%f", (double)_zoom_mult_target, (double)_zoom_mult);
-        break;
     }
 }
 
diff --git a/libraries/AP_Mount/AP_Mount_Siyi.h b/libraries/AP_Mount/AP_Mount_Siyi.h
index b870184d29..b48599637e 100644
--- a/libraries/AP_Mount/AP_Mount_Siyi.h
+++ b/libraries/AP_Mount/AP_Mount_Siyi.h
@@ -189,7 +189,6 @@ private:
     bool send_zoom_rate(float zoom_value);
 
     // send zoom multiple command to camera. e.g. 1x, 10x, 30x
-    // only supported by ZR10 and ZR30
     bool send_zoom_mult(float zoom_mult);
 
     // get zoom multiple max
@@ -239,7 +238,6 @@ private:
     // absolute zoom control.  only used for A8 that does not support abs zoom control
     ZoomType _zoom_type;                            // current zoom type
     float _zoom_rate_target;                        // current zoom rate target
-    float _zoom_mult_target;                        // current zoom multiple target.  0 if no target
     float _zoom_mult;                               // most recent actual zoom multiple received from camera
     uint32_t _last_zoom_control_ms;                 // system time that zoom control was last run
 };