From 345629cdadda104d36c5bfbdb50e50cf442cd455 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 29 Nov 2022 11:42:51 +0900 Subject: [PATCH] AP_Mount: fix for Siyi A8 --- libraries/AP_Mount/AP_Mount_Siyi.cpp | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp index c2f414adac..dacd744dcb 100644 --- a/libraries/AP_Mount/AP_Mount_Siyi.cpp +++ b/libraries/AP_Mount/AP_Mount_Siyi.cpp @@ -294,7 +294,8 @@ void AP_Mount_Siyi::process_packet() switch ((SiyiCommandId)_parsed_msg.command_id) { case SiyiCommandId::ACQUIRE_FIRMWARE_VERSION: { - if (_parsed_msg.data_bytes_received != 12) { + if (_parsed_msg.data_bytes_received != 12 && // ZR10 firmware version reply is 12bytes + _parsed_msg.data_bytes_received != 8) { // A8 firmware version reply is 8 bytes #if AP_MOUNT_SIYI_DEBUG unexpected_len = true; #endif @@ -315,10 +316,14 @@ void AP_Mount_Siyi::process_packet() (unsigned)_msg_buff[_msg_buff_data_start+7]); // firmware revision // display zoom firmware version - debug("Mount: SiyiZoom fw:%u.%u.%u", - (unsigned)_msg_buff[_msg_buff_data_start+9], // firmware major version - (unsigned)_msg_buff[_msg_buff_data_start+10], // firmware minor version - (unsigned)_msg_buff[_msg_buff_data_start+11]); // firmware revision +#if AP_MOUNT_SIYI_DEBUG + if (_parsed_msg.data_bytes_received >= 12) { + debug("Mount: SiyiZoom fw:%u.%u.%u", + (unsigned)_msg_buff[_msg_buff_data_start+9], // firmware major version + (unsigned)_msg_buff[_msg_buff_data_start+10], // firmware minor version + (unsigned)_msg_buff[_msg_buff_data_start+11]); // firmware revision + } +#endif break; }