Mount: Siyi waits for cam version for 30 sec only

libraries/AP_Mount/AP_Mount_Siyi.cpp

@@ -358,8 +358,21 @@ void AP_Mount_Siyi::process_packet()
         _fw_version.gimbal.minor = _msg_buff[_msg_buff_data_start+5];  // firmware minor version
         _fw_version.gimbal.patch = _msg_buff[_msg_buff_data_start+4];  // firmware revision (aka patch)
 
+        // check how long we've been trying to get the firmware version
+        const uint32_t now_ms = AP_HAL::millis();
+        if (_fw_version_first_recv_ms == 0) {
+            _fw_version_first_recv_ms = now_ms;
+        }
+
+        // wait for camera version for up to 30 seconds
+        const bool giveup = (now_ms - _fw_version_first_recv_ms) > 30000;
+
         // camera firmware version may be all zero soon after startup.  giveup and try again later
-        if (_fw_version.camera.major == 0 && _fw_version.camera.minor == 0 && _fw_version.camera.patch == 0) {
+        if (!giveup && _fw_version.camera.major == 0 && _fw_version.camera.minor == 0 && _fw_version.camera.patch == 0) {
+              GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mount: Siyi camera fw v%u.%u.%u",
+                _fw_version.camera.major,
+                _fw_version.camera.minor,
+                _fw_version.camera.patch);
             break;
         }
 

libraries/AP_Mount/AP_Mount_Siyi.h

@@ -294,6 +294,7 @@ class AP_Mount_Siyi : public AP_Mount_Backend
     bool _got_hardware_id;                          // true once hardware id ha been received
 
     FirmwareVersion _fw_version;                    // firmware version (for reporting for GCS)
+    uint32_t _fw_version_first_recv_ms;             // system time firmware version was first received (we giveup eventually)
 
     // buffer holding bytes from latest packet.  This is only used to calculate the crc
     uint8_t _msg_buff[AP_MOUNT_SIYI_PACKETLEN_MAX];