AP_Proximity: Device checksum value is not wrong.

[muramura]

Bug report

Issue details

https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Proximity/AP_Proximity_Cygbot_D1.cpp#L116 The size value is missing 1 byte in this process.

Please describe the problem

https://github.com/CygLiDAR-ROS/cyglidar_d1/blob/v0.1.3/src/CygbotParser.c#L57

The original calculates the checksum from Length1. The ArduPilot process makes it calculate the checksum from Length1, Length2 and the payload only. One byte of the payload header is missing. The comment describes that the checksum does not match. This is because of a mistake in the process.

Version What version was the issue encountered with

ArduCopter V4.2.0-dev

Platform [X] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [ ] Submarine

Airframe type What type of airframe (flying wing, glider, hex, Y6, octa etc)

quad

Hardware type What autopilot hardware was used? (Pixhawk, Cube, Pixracer, Navio2, etc)

SITL

Logs Please provide a link to any relevant logs that show the issue

[rmackay9]

This one is for @rishabsingh3003

[rishabsingh3003]

Thanks, @muramura. I'll check this out and push a fix!

[Ryanf55]

@muramura Does this solve your issue?

[rishabsingh3003]

I believe I fixed this issue.