From fd6242964a135885e1ae7abef631a3302ee31b8a Mon Sep 17 00:00:00 2001 From: Nick Exton Date: Fri, 8 Sep 2023 12:03:30 +1000 Subject: [PATCH] AP_Mount: In Siyi, rename _firmware_version member to _fw_version (NFC) --- libraries/AP_Mount/AP_Mount_Siyi.cpp | 34 ++++++++++++++-------------- libraries/AP_Mount/AP_Mount_Siyi.h | 2 +- 2 files changed, 18 insertions(+), 18 deletions(-) diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp index 2226c9bdf2..069e39ea47 100644 --- a/libraries/AP_Mount/AP_Mount_Siyi.cpp +++ b/libraries/AP_Mount/AP_Mount_Siyi.cpp @@ -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 diff --git a/libraries/AP_Mount/AP_Mount_Siyi.h b/libraries/AP_Mount/AP_Mount_Siyi.h index 4efc863cfe..91b81c9d42 100644 --- a/libraries/AP_Mount/AP_Mount_Siyi.h +++ b/libraries/AP_Mount/AP_Mount_Siyi.h @@ -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];