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AP_BLHeli: make sure there is delay between MSP send and receive to avoid reading our own data

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Andy Piper 2021-04-18 14:34:39 +01:00 committed by Andrew Tridgell
parent 4bb4e2fb22
commit a9f442b4c1
1 changed files with 7 additions and 1 deletions
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8
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -362,7 +362,10 @@ void AP_BLHeli::msp_process_command(void)
} }
case MSP_REBOOT: case MSP_REBOOT:
debug("MSP: ignoring reboot command"); debug("MSP: ignoring reboot command, end serial comms");
hal.rcout->serial_end();
blheli.connected[blheli.chan] = false;
serial_start_ms = 0;
break; break;
case MSP_UID: case MSP_UID:
@ -590,6 +593,9 @@ bool AP_BLHeli::BL_SendBuf(const uint8_t *buf, uint16_t len)
blheli.ack = ACK_D_GENERAL_ERROR; blheli.ack = ACK_D_GENERAL_ERROR;
return false; return false;
} }
// 19200 baud is 52us per bit - wait for half a bit between sending and receiving to avoid reading
// the end of the last sent bit by accident
hal.scheduler->delay_microseconds(26);
return true; return true;
} }