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AP_RCProtocol: small improvement to SBUS parsing robustness

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ensure that if we see a frame gab that we reset input buffer
This commit is contained in:
Andrew Tridgell 2018-11-28 08:55:27 +11:00
parent 7459709acb
commit b7dd255050
1 changed files with 6 additions and 5 deletions
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11
libraries/AP_RCProtocol/AP_RCProtocol_SBUS.cpp
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@ -226,13 +226,14 @@ void AP_RCProtocol_SBUS::process_pulse(uint32_t width_s0, uint32_t width_s1)
// support byte input
void AP_RCProtocol_SBUS::_process_byte(uint32_t timestamp_us, uint8_t b)
{
const bool have_frame_gap = (timestamp_us - byte_input.last_byte_us > 2000U);
if (have_frame_gap &&
byte_input.ofs == sizeof(byte_input.buf)) {
byte_input.ofs = 0;
}
const bool have_frame_gap = (timestamp_us - byte_input.last_byte_us >= 2000U);
byte_input.last_byte_us = timestamp_us;
if (have_frame_gap) {
// if we have a frame gap then this must be the start of a new
// frame
byte_input.ofs = 0;
}
if (b != 0x0F && byte_input.ofs == 0) {
// definately not SBUS, missing header byte
return;