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https://github.com/azaion/autopilot.git
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Simple program to control Siyi A8 mini gimbal
Simple program to control Siyi A8 mini (actually some other Siyi cameras too). Receiving responce sometimes gives error when checking CRC.
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Nffj84
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#include "serialCommand.h"
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#include "crc16.h"
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#include <QDebug>
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#include <iostream>
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SerialCommand::SerialCommand() {
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/*
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Field Index Bytes Description
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STX 0 2 0x6655: starting mark. Low byte in the front
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CTRL 2 1 0: need_ack (if the current data pack need “ack”)
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1: ack_pack (if the current data pack is an “ack” package) 2-7: reserved
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Data_len 3 2 Data field byte length. Low byte in the front
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SEQ 5 2 Frame sequence (0 ~ 65535). Low byte in the front
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CMD_ID 7 1 Command ID
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DATA 8 Data_len Data
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CRC16 2 CRC16 check to the complete data package. Low
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byte in the front
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*/
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mSerialCommands.append({createByteArray({0x00, 0x00}), "Exit program"});
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mSerialCommands.append({createByteArray({0x55, 0x66, 0x01, 0x04, 0x00, 0x00,
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0x00, 0x0E, 0x00, 0x00, 0x00, 0x00}),
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"Degrees"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x08, 0x01}),
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"Auto Centering"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x05, 0x01}),
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"Zoom +1"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x05, 0xFF}),
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"Zoom -1"});
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mSerialCommands.append({createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x01,
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0x00, 0x0F, 0x04, 0x05}),
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"4.5x"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x06, 0x01}),
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"Manual Focus +1"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x06, 0xff}),
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"Manual Focus -1"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x04, 0x01}),
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"Auto Focus"});
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mSerialCommands.append({createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00,
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0x00, 0x07, 0x00, 0x2D}),
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"Rotate Up"});
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mSerialCommands.append({createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00,
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0x00, 0x07, 0x00, -0x2D}),
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"Rotate Down"});
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mSerialCommands.append({createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00,
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0x00, 0x07, 0x2D, 0x00}),
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"Rotate Right"});
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mSerialCommands.append({createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00,
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0x00, 0x07, -0x2D, 0x00}),
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"Rotate Left"});
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mSerialCommands.append({createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00,
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0x00, 0x07, 0x00, 0x00}),
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"Stop rotation"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x16}),
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"Acquire the Max Zoom Value"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x00}),
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"Take Pictures"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x02}),
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"Record Video"});
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mSerialCommands.append({createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00,
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0x00, 0x07, 0x64, 0x64}),
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"Rotate 100 100"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x0a}),
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"Gimbal Status Information"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x02}),
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"Acquire Hardware ID"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01}),
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"Acquire Firmware Version"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x03}),
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"Lock Mode"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x04}),
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"Follow Mode"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x05}),
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"FPV Mode"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x0d}),
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"Acquire Attitude Data"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x06}),
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"Set Video Output as HDMI (Only available on A8 mini, restart to take "
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"effect)"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x07}),
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"Set Video Output as CVBS (Only available on A8 mini, restart to take "
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"effect)"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x08}),
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"Turn Off both CVBS and HDMI Output (Only available on A8 mini, restart "
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"to take effect)"});
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mSerialCommands.append(
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{createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x15}),
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"Read Range from Laser Rangefinder(Low byte in the front, high byte in "
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"the back, available on ZT30)"});
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}
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SerialCommand::~SerialCommand() {
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// Do something?
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}
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QByteArray
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SerialCommand::createByteArray(const std::initializer_list<int> &bytes) {
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QByteArray byteArray;
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for (int byte : bytes) {
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byteArray.append(static_cast<char>(byte));
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}
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return byteArray;
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}
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void SerialCommand::printCommands() {
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uint8_t index = 0;
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foreach (Command command, mSerialCommands) {
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qInfo().noquote() << QString::number(index) + ": " + command.description;
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index++;
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}
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}
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void SerialCommand::setExtraValues(uint8_t number) {
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if (number == 1) {
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QByteArray command = mSerialCommands.at(number).command;
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int16_t degrees;
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std::cout << "Enter yaw degrees (-135 -> 135): ";
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std::cin >> degrees;
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degrees = degrees * 10;
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command[8] = degrees & 0xFF;
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command[9] = degrees >> 8;
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std::cout << "Enter pitch degrees (-90 -> 25): ";
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std::cin >> degrees;
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degrees = degrees * 10;
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command[10] = degrees & 0xFF;
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command[11] = degrees >> 8;
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mSerialCommands[number].command = command;
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}
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}
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QByteArray SerialCommand::getCommand(uint8_t number) {
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setExtraValues(number);
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QByteArray command = mSerialCommands.at(number).command;
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uint8_t crcBytes[2];
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CRC16::getCRCBytes(command, crcBytes);
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command.resize(command.size() +
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2); // Increase array size to accommodate CRC bytes
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command[command.size() - 2] = crcBytes[0]; // Set LSB
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command[command.size() - 1] = crcBytes[1]; // Set MSB
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QString commandStr;
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for (int i = 0; i < command.size(); i++) {
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commandStr += QString("%1").arg(command.at(i), 2, 16, QChar('0')).toUpper();
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}
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qDebug() << "Command: " << commandStr;
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return command;
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}
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uint8_t SerialCommand::getCommandCount() { return mSerialCommands.size(); }
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