AP_Mount: add Siyi ZT6 support

ArduPilot · Jun 26, 2024 · 3439ced · 3439ced
1 parent c55a5ab
commit 3439ced
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp
@@ -28,6 +28,7 @@ const AP_Mount_Siyi::HWInfo AP_Mount_Siyi::hardware_lookup_table[] {
         {{'7','3'}, "A8"},
         {{'6','B'}, "ZR10"},
         {{'7','8'}, "ZR30"},
+        {{'8','2'}, "ZT6"},
         {{'7','A'}, "ZT30"},
 };
 
@@ -812,7 +813,8 @@ float AP_Mount_Siyi::get_zoom_mult_max() const
         return 0;
     case HardwareModel::A2:
     case HardwareModel::A8:
-        // a8 has 6x digital zoom
+    case HardwareModel::ZT6:
+        // a8, zt6 have 6x digital zoom
         return 6;
     case HardwareModel::ZR10:
     case HardwareModel::ZR30:
@@ -1030,6 +1032,7 @@ void AP_Mount_Siyi::send_camera_information(mavlink_channel_t chan) const
     case HardwareModel::UNKNOWN:
     case HardwareModel::A2:
     case HardwareModel::A8:
+    case HardwareModel::ZT6:
         focal_length_mm = 21;
         break;
     case HardwareModel::ZR10:
@@ -1137,6 +1140,7 @@ void AP_Mount_Siyi::check_firmware_version() const
         case HardwareModel::A2:
         case HardwareModel::ZR10:
         case HardwareModel::ZR30:
+        case HardwareModel::ZT6:
         case HardwareModel::ZT30:
             // TBD
             break;

diff --git a/libraries/AP_Mount/AP_Mount_Siyi.h b/libraries/AP_Mount/AP_Mount_Siyi.h
@@ -163,6 +163,7 @@ class AP_Mount_Siyi : public AP_Mount_Backend_Serial
         A8,
         ZR10,
         ZR30,
+        ZT6,
         ZT30
     } _hardware_model;
-Original file line number
+Diff line change
@@ Expand Up / @@ -163,6 +163,7 @@ class AP_Mount_Siyi : public AP_Mount_Backend_Serial @@
             A8,
             ZR10,
             ZR30,
+            ZT6,
             ZT30
         } _hardware_model;
@@ Expand Down @@