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AP_Radio: fixed timing of telem packets

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This commit is contained in:
Andrew Tridgell 2018-02-01 14:37:24 +11:00
parent 240b6d57f7
commit eeff485a39
1 changed files with 4 additions and 3 deletions
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7
libraries/AP_Radio/AP_Radio_cc2500.cpp
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@ -545,9 +545,10 @@ void AP_Radio_cc2500::irq_handler(void)
send_SRT_telemetry();
}
// we can safely sleep here as we have a dedicated thread for radio processing.
// we can safely sleep here as we have a dedicated thread for radio processing. We need to sleep
// for enough time for the packet to be fully transmitted
cc2500.unlock_bus();
hal.scheduler->delay_microseconds(2500);
hal.scheduler->delay_microseconds(3500);
cc2500.lock_bus();
nextChannel(chanskip);
@ -859,7 +860,7 @@ bool AP_Radio_cc2500::check_crc(uint8_t ccLen, uint8_t *packet)
struct srt_packet *pkt = (struct srt_packet *)packet;
// SRT packet
uint16_t lcrc = calc_crc(packet,sizeof(struct srt_packet)-2);
return lcrc == (pkt->crc[0]<<8) || pkt->crc[1];
return lcrc == ((pkt->crc[0]<<8) | pkt->crc[1]);
} else if (ccLen == 32) {
// D16 packet
uint16_t lcrc = calc_crc(&packet[3],(ccLen-7));