From c1c643e56e4a46393c2363280d87ff3b2cefb153 Mon Sep 17 00:00:00 2001 From: ShingoMatsuura Date: Mon, 21 Nov 2016 16:55:35 +0900 Subject: [PATCH] AP_RangeFinder: remove clear buffer in send_request --- .../AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp | 13 +------------ 1 file changed, 1 insertion(+), 12 deletions(-) diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp index ed266650c3..796eebcc15 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp @@ -162,17 +162,6 @@ bool AP_RangeFinder_LeddarOne::CRC16(uint8_t *aBuffer, uint8_t aLength, bool aCh LeddarOne_Status AP_RangeFinder_LeddarOne::send_request(void) { uint8_t send_buffer[8] = {0}; - uint8_t index = 0; - - uint32_t nbytes = uart->available(); - - // clear buffer - while (nbytes-- > 0) { - uart->read(); - if (++index > LEDDARONE_SERIAL_PORT_MAX) { - return LEDDARONE_STATE_ERR_SERIAL_PORT; - } - } // Modbus read input register (function code 0x04) send_buffer[0] = LEDDARONE_DEFAULT_ADDRESS; @@ -186,7 +175,7 @@ LeddarOne_Status AP_RangeFinder_LeddarOne::send_request(void) CRC16(send_buffer, 6, false); // write buffer data with CRC16 bits - for (index=0; index<8; index++) { + for (uint8_t index=0; index<8; index++) { uart->write(send_buffer[index]); } uart->flush();