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AP_RangeFinder: fix benewake checksum check

This commit is contained in:
Randy Mackay 2018-11-14 15:35:56 +09:00
parent 8fdb67d955
commit 4de971b879
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp
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@ -105,12 +105,12 @@ bool AP_RangeFinder_Benewake::get_reading(uint16_t &reading_cm)
// if buffer now has 9 items try to decode it
if (linebuf_len == BENEWAKE_FRAME_LENGTH) {
// calculate checksum
uint16_t checksum = 0;
uint8_t checksum = 0;
for (uint8_t i=0; i<BENEWAKE_FRAME_LENGTH-1; i++) {
checksum += linebuf[i];
checksum += (uint8_t)linebuf[i];
}
// if checksum matches extract contents
if ((uint8_t)(checksum & 0xFF) == linebuf[BENEWAKE_FRAME_LENGTH-1]) {
if (checksum == (uint8_t)linebuf[BENEWAKE_FRAME_LENGTH-1]) {
// calculate distance
uint16_t dist = ((uint16_t)linebuf[3] << 8) | linebuf[2];
if (dist >= BENEWAKE_DIST_MAX_CM) {