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AP_Proximity: increase RPLidar read buffer size 

128 bytes at 50Hz is not enough to read all data from device
This commit is contained in:
Peter Barker 2023-05-12 12:52:04 +10:00 committed by Randy Mackay
parent 206f663e38
commit 36b494a057
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
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@ -179,7 +179,7 @@ bool AP_Proximity_RPLidarA2::make_first_byte_in_payload(uint8_t desired_byte)
if (_payload[0] == desired_byte) { if (_payload[0] == desired_byte) {
return true; return true;
} }
for (uint8_t i=1; i<_byte_count; i++) { for (auto i=1; i<_byte_count; i++) {
if (_payload[i] == desired_byte) { if (_payload[i] == desired_byte) {
consume_bytes(i); consume_bytes(i);
return true; return true;

2
libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
View File

@ -143,7 +143,7 @@ private:
_descriptor descriptor; _descriptor descriptor;
_rpi_information information; _rpi_information information;
_device_info device_info; _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; } _payload;
static_assert(sizeof(_payload) >= 63, "Needed for parsing out reboot data"); static_assert(sizeof(_payload) >= 63, "Needed for parsing out reboot data");