diff --git a/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp b/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
index 806947a3b4..0d21e4614f 100644
--- a/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
@@ -179,7 +179,7 @@ bool AP_Proximity_RPLidarA2::make_first_byte_in_payload(uint8_t desired_byte)
     if (_payload[0] == desired_byte) {
         return true;
     }
-    for (uint8_t i=1; i<_byte_count; i++) {
+    for (auto i=1; i<_byte_count; i++) {
         if (_payload[i] == desired_byte) {
             consume_bytes(i);
             return true;
diff --git a/libraries/AP_Proximity/AP_Proximity_RPLidarA2.h b/libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
index 5f44ba0e33..30da07b52e 100644
--- a/libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
+++ b/libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
@@ -143,7 +143,7 @@ private:
         _descriptor descriptor;
         _rpi_information information;
         _device_info device_info;
-        uint8_t forced_buffer_size[128]; // just so we read(...) efficiently
+        uint8_t forced_buffer_size[256]; // just so we read(...) efficiently
     } _payload;
     static_assert(sizeof(_payload) >= 63, "Needed for parsing out reboot data");