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AP_RCProtocol: use RC_OPTIONS fport pad option

This commit is contained in:
Andrew Tridgell 2020-01-01 15:33:58 +11:00
parent 7769cf5316
commit 33182a9f11
1 changed files with 11 additions and 1 deletions
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12
libraries/AP_RCProtocol/AP_RCProtocol_FPort.cpp
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@ -20,6 +20,8 @@
#include "AP_RCProtocol_FPort.h"
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_Frsky_Telem/AP_Frsky_Telem.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <RC_Channel/RC_Channel.h>
extern const AP_HAL::HAL& hal;
@ -183,7 +185,15 @@ void AP_RCProtocol_FPort::decode_downlink(const FPort_Frame &frame)
// perform byte stuffing per FPort spec
uint8_t len = 0;
uint8_t buf2[sizeof(buf)*2];
uint8_t buf2[sizeof(buf)*2+1];
#if !APM_BUILD_TYPE(APM_BUILD_iofirmware)
if (rc().fport_pad()) {
// this padding helps on some uarts that have hw pullups
buf2[len++] = 0xff;
}
#endif
for (uint8_t i=0; i<sizeof(buf); i++) {
uint8_t c = buf[i];
if (c == FRAME_DLE || buf[i] == FRAME_HEAD) {