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AP_BLHeli: read more efficiently from telemetry UART

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This commit is contained in:
Peter Barker 2020-05-21 15:18:59 +10:00 committed by Peter Barker
parent 6d9e563ede
commit 6cdee8c830
1 changed files with 4 additions and 8 deletions
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12
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -1368,17 +1368,13 @@ uint8_t AP_BLHeli::telem_crc8(uint8_t crc, uint8_t crc_seed) const
void AP_BLHeli::read_telemetry_packet(void)
{
uint8_t buf[telem_packet_size];
uint8_t crc = 0;
for (uint8_t i=0; i<telem_packet_size; i++) {
int16_t v = telem_uart->read();
if (v < 0) {
// short read, we should have 10 bytes ready when this function is called
return;
}
buf[i] = uint8_t(v);
if (telem_uart->read(buf, telem_packet_size) < telem_packet_size) {
// short read, we should have 10 bytes ready when this function is called
return;
}
// calculate crc
uint8_t crc = 0;
for (uint8_t i=0; i<telem_packet_size-1; i++) {
crc = telem_crc8(buf[i], crc);
}