AP_Mount: add Siyi ZT6 support

ArduPilot · May 21, 2024 · 7ef103f · 7ef103f
1 parent bb0d1cf
commit 7ef103f
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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
@@ -29,6 +29,7 @@ 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"},
 };
 
@@ -827,7 +828,8 @@ 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:
@@ -1045,6 +1047,7 @@ 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:
@@ -1152,6 +1155,7 @@ 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
@@ -166,6 +166,7 @@ class AP_Mount_Siyi : public AP_Mount_Backend
         A8,
         ZR10,
         ZR30,
+        ZT6,
         ZT30
     } _hardware_model;
-Original file line number
+Diff line change
@@ Expand Up / @@ -166,6 +166,7 @@ class AP_Mount_Siyi : public AP_Mount_Backend @@
             A8,
             ZR10,
             ZR30,
+            ZT6,
             ZT30
         } _hardware_model;
@@ Expand Down @@