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AP_GPS_UBLOX: tidy reading of uart data

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Neither of the return types used for data and numc were actually correct for the values being returned from the uartdriver functions.
This commit is contained in:
Peter Barker 2021-11-05 13:48:57 +11:00 committed by Andrew Tridgell
parent 7c3de472b2
commit 065cb2decb
1 changed files with 7 additions and 5 deletions
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12
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -550,8 +550,6 @@ AP_GPS_UBLOX::_request_port(void)
bool bool
AP_GPS_UBLOX::read(void) AP_GPS_UBLOX::read(void)
{ {
uint8_t data;
int16_t numc;
bool parsed = false; bool parsed = false;
uint32_t millis_now = AP_HAL::millis(); uint32_t millis_now = AP_HAL::millis();
@ -580,11 +578,15 @@ AP_GPS_UBLOX::read(void)
} }
} }
numc = port->available(); const uint16_t numc = MIN(port->available(), 8192U);
for (int16_t i = 0; i < numc; i++) { // Process bytes received for (uint16_t i = 0; i < numc; i++) { // Process bytes received
// read the next byte // read the next byte
data = port->read(); const int16_t rdata = port->read();
if (rdata < 0) {
break;
}
const uint8_t data = rdata;
#if GPS_MOVING_BASELINE #if GPS_MOVING_BASELINE
if (rtcm3_parser) { if (rtcm3_parser) {