AP_Mount: set clock on SIYI

this means photos on microSD have correct date
ArduPilot · Nov 15, 2023 · ce1d8e9 · ce1d8e9
1 parent 9012809
commit ce1d8e9
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Showing 2 changed files with 14 additions and 0 deletions.
diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp
@@ -6,6 +6,7 @@
 #include <GCS_MAVLink/GCS.h>
 #include <GCS_MAVLink/include/mavlink/v2.0/checksum.h>
 #include <AP_SerialManager/AP_SerialManager.h>
+#include <AP_RTC/AP_RTC.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -54,6 +55,15 @@ void AP_Mount_Siyi::update()
     // reading incoming packets from gimbal
     read_incoming_packets();
 
+    // send UTC time to the camera
+    if (sent_time_count < 5) {
+        uint64_t utc_usec;
+        if (AP::rtc().get_utc_usec(utc_usec) &&
+            send_packet(SiyiCommandId::SET_TIME, (const uint8_t *)&utc_usec, sizeof(utc_usec))) {
+            sent_time_count++;
+        }
+    }
+
     // request firmware version during startup at 1hz
     // during regular operation request configuration at 1hz
     uint32_t now_ms = AP_HAL::millis();

diff --git a/libraries/AP_Mount/AP_Mount_Siyi.h b/libraries/AP_Mount/AP_Mount_Siyi.h
@@ -112,6 +112,7 @@ class AP_Mount_Siyi : public AP_Mount_Backend
         SET_CAMERA_IMAGE_TYPE = 0x11,
         READ_RANGEFINDER = 0x15,
         EXTERNAL_ATTITUDE = 0x22,
+        SET_TIME = 0x30,
     };
 
     // Function Feedback Info packet info_type values
@@ -335,6 +336,9 @@ class AP_Mount_Siyi : public AP_Mount_Backend
         const char* model_name;
     };
     static const HWInfo hardware_lookup_table[];
+
+    // count of SET_TIME packets, we send 5 times to cope with packet loss
+    uint8_t sent_time_count;
 };
 
 #endif // HAL_MOUNT_SIYISERIAL_ENABLED