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services-ros1-xbee_mav
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This commit is contained in:
vivek-shankar 2017-01-26 19:49:09 -05:00
parent df53748d32
commit fc27a46342
1 changed files with 3 additions and 3 deletions
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6
src/CommunicationManager.cpp
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@ -313,7 +313,7 @@ unsigned short CommunicationManager::Caculate_Checksum(std::string* frame)
unsigned short bytes_sum = 0;
unsigned lowest_8_bits = 0;
unsigned short checksum = 0;
unsigned char checksum_byte;
//unsigned char checksum_byte;
for (unsigned short i = 0; i < frame->size(); i++)
bytes_sum += static_cast<unsigned short>(frame->at(i));
@ -534,7 +534,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
uint16_t total =ceil((double)((double)mavlink_msg->payload64.size()/(double)10));
std::cout <<"Payload size" <<mavlink_msg->payload64.size() << std::endl;
uint64_t header = (uint64_t)0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ;
std::cout << "Total chunks:" <<total << std::endl;
std::cout << "Total chunks:" <<check_sum << std::endl;
//temporary_buffer[MAX_BUFFER_SIZE]="";
frame="";
uint16_t* header_16 = u64_cvt_u16(header);
@ -559,7 +559,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
number++;
cnt=0;
frame = "";
std::cout << "Total chunks:" <<total << std::endl;
std::cout << "checksum:" <<total << std::endl;
header=0;
header = 0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ;
header_16 = u64_cvt_u16(header);