LD19 sanity check

ArduCopter Copter 4.6
1

Hi, I think I solved the issue.

            const uint32_t total_packet_length = 6 + 3*(_response[START_DATA_LENGTH] & 0x1F) + 5;
            if ((_response[START_DATA_LENGTH] & 0x1F) != PAYLOAD_COUNT ||

_response[START_DATA_LENGTH] has length only on 5LSB bits, 3 MSB are packet type
So 0x2C means actually packet type = 1, length = 12 data points, but that require bitmask as pasted above.

BR,
Adam Borowski

2

Also confirmed with documentation:
LD06:

obraz
obraz911×306 15.5 KB

and LD19:
obraz
obraz784×365 15.4 KB

So basically ignoring 3 most significant bits solves the issue with sanity check on packet length.