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.
2026-04-22 15:06:33 +00:00 · 2024-05-26 12:56:51 +03:00
parent a8ba701138
commit 33399370f3
12 changed files with 558 additions and 0 deletions
@@ -0,0 +1,48 @@
+#include "serialResponse.h"
+#include "crc16.h"
+#include "defines.h"
+#include <QDebug>
+#include <QString>
+
+void SerialResponse::printResponse(QByteArray response) {
+    QString responseStr;
+    for (int i = 0; i < response.size(); i++) {
+        responseStr +=
+            QString("%1").arg(response.at(i), 2, 16, QChar('0')).toUpper();
+    }
+    qDebug() << "Response: " << responseStr;
+
+    responseStr = "";
+    uint8_t command = response.at(MESSAGE_IDX::CMD_ID);
+
+    // Check response data validity
+    uint8_t crcCheck[2];
+    CRC16::getCRCBytes(response.mid(0, response.size() - 2), crcCheck);
+
+    // Data not OK
+    if (crcCheck[0] != response.at(response.size() - 2) ||
+        crcCheck[1] != response.at(response.size() - 1)) {
+        qWarning() << "Response data not valid";
+        return;
+    }
+    qInfo() << "Response data is valid";
+
+    if (command == 0x0E) {
+        int16_t yaw = (static_cast<uint8_t>(response.at(9)) << 8) |
+                      static_cast<uint8_t>(response.at(8));
+        int16_t pitch = (static_cast<uint8_t>(response.at(11)) << 8) |
+                        static_cast<uint8_t>(response.at(10));
+        int16_t roll = (static_cast<uint8_t>(response.at(13)) << 8) |
+                       static_cast<uint8_t>(response.at(12));
+
+        qInfo().noquote() << "Yaw:   " << QString::number(yaw / 10) + "°";
+        qInfo().noquote() << "Pitch: " << QString::number(pitch / 10) + "°";
+        qInfo().noquote() << "Roll:  " << QString::number(roll / 10) + "°";
+    } else {
+        for (int i = 0; i < response.size(); i++) {
+            responseStr +=
+                QString("%1").arg(response.at(i), 2, 16, QChar('0')).toUpper();
+        }
+        qInfo() << "Response: " << responseStr;
+    }
+}