The gimbal answered and reported its model and firmware
What ArduPilot says:
- Mount: Siyi zoom fw vN.N.N
- Mount: … … fw:N.N.N.N
- Mount: Siyi camera fw vN.N.N
- Mount: Siyi gimbal fw vN.N.N
- … hw:N.N fw:N.N
- Mount: SToRM32
Also explained here: 2 more
- Mount: Xacti fw:…
- Mount: Siyi …
At start-up the gimbal driver found its gimbal: the wiring, the port and the type are right. The line gives the model (for Siyi: A2, A8, ZR10, ZR30, ZT6 or ZT30) and the firmware versions of the gimbal and its camera. Until this line appears the gimbal counts as not healthy and arming is refused with “Mount: not healthy”; if it never appears, the gimbal is not answering.
The code that sends it
Mount: Siyi zoom fw vN.N.N
libraries/AP_Mount/AP_Mount_Siyi.cpp AP_Mount_Siyi::process_packet() · Open in ArduPilot Copter-4.7.1
Mount: … … fw:N.N.N.N
libraries/AP_Mount/AP_Mount_Gremsy.cpp AP_Mount_Gremsy::handle_gimbal_device_information() · Open in ArduPilot Copter-4.6.3
libraries/AP_Mount/AP_Mount_MAVLink.cpp AP_Mount_MAVLink::handle_gimbal_device_information() · Open in ArduPilot Copter-4.7.1
Mount: Siyi camera fw vN.N.N
libraries/AP_Mount/AP_Mount_Siyi.cpp AP_Mount_Siyi::process_packet() · Open in ArduPilot Copter-4.7.1
Mount: Siyi gimbal fw vN.N.N
libraries/AP_Mount/AP_Mount_Siyi.cpp AP_Mount_Siyi::process_packet() · Open in ArduPilot Copter-4.7.1
And 4 more messages, sent from the same places.