From f537c98ca26005e23f685af270b306684fd75d26 Mon Sep 17 00:00:00 2001
From: Dave Royer <dave@ainstein.ai>
Date: Fri, 18 Jan 2019 11:06:34 -0600
Subject: [PATCH] ulanding radar: update driver for new 2nd gen hardware
(#11035)
---
src/drivers/distance_sensor/ulanding/ulanding.cpp | 7 +++++--
1 file changed, 5 insertions(+), 2 deletions(-)
diff --git a/src/drivers/distance_sensor/ulanding/ulanding.cpp b/src/drivers/distance_sensor/ulanding/ulanding.cpp
index 5f58560bcd..7e88c4b6f3 100644
--- a/src/drivers/distance_sensor/ulanding/ulanding.cpp
+++ b/src/drivers/distance_sensor/ulanding/ulanding.cpp
@@ -360,8 +360,11 @@ bool Radar::read_and_parse(uint8_t *buf, int len, float *range)
if (is_header_byte(_buf[index])) {
if (no_header_counter >= BUF_LEN / 3 - 1) {
if (ULANDING_VERSION == 1) {
- if (((_buf[index + 1] + _buf[index + 2] + _buf[index + 3] + _buf[index + 4])) != (_buf[index + 5])
- || (_buf[index + 1] <= 0)) {
+ bool checksum_passed = (((_buf[index + 1] + _buf[index + 2] + _buf[index + 3] + _buf[index + 4]) & 0xFF) == _buf[index +
+ 5]);
+
+ if (!checksum_passed) {
+ // checksum failed
ret = false;
break;
}
--
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