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AP_RCProtocol: fport downlink packet: fixed CRC and added missing PACKED attribute

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yaapu 2020-01-20 00:34:38 -08:00 committed by Andrew Tridgell
parent 5d3ed74a37
commit 88f0d54574
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_RCProtocol/AP_RCProtocol_FPort.cpp
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@ -70,7 +70,7 @@ struct PACKED FPort_Frame {
uint8_t crc;
uint8_t end;
} control;
struct {
struct PACKED {
uint8_t prim;
uint16_t appid;
uint8_t data[4];
@ -179,6 +179,8 @@ void AP_RCProtocol_FPort::decode_downlink(const FPort_Frame &frame)
uint16_t sum = 0;
for (uint8_t i=0; i<sizeof(buf)-1; i++) {
sum += buf[i];
sum += sum >> 8;
sum &= 0xFF;
}
sum = 0xff - ((sum & 0xff) + (sum >> 8));
buf[9] = sum;