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AP_OpticalFlow: add and use a "bool read(c)" method to AP_HAL

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this is much less likely to not work vs the int16_t equivalent
This commit is contained in:
Peter Barker 2023-02-21 20:35:57 +11:00 committed by Peter Barker
parent b644dfebc4
commit 988aa992bf
1 changed files with 2 additions and 3 deletions
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5
libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp
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@ -116,11 +116,10 @@ void AP_OpticalFlow_CXOF::update(void)
// read any available characters in the serial buffer // read any available characters in the serial buffer
int16_t nbytes = uart->available(); int16_t nbytes = uart->available();
while (nbytes-- > 0) { while (nbytes-- > 0) {
int16_t r = uart->read(); uint8_t c;
if (r < 0) { if (!uart->read(c)) {
continue; continue;
} }
uint8_t c = (uint8_t)r;
// if buffer is empty and this byte is header, add to buffer // if buffer is empty and this byte is header, add to buffer
if (buf_len == 0) { if (buf_len == 0) {
if (c == CXOF_HEADER) { if (c == CXOF_HEADER) {