AP_RCProtocol: use single frame API

ArduPilot · Sep 19, 2023 · 4fcf5af · 4fcf5af
1 parent 1a8a5f2
commit 4fcf5af
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.cpp b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
@@ -359,7 +359,7 @@ void AP_RCProtocol::check_added_uart(void)
     // processing in frame-based mode
     if (!searching && backend[_detected_protocol]->frame_input_enabled()) {
         uint8_t buf[64];
-        while (added.uart->frames_available()) {
+        while (added.uart->frame_available()) {
             ssize_t nbytes = added.uart->read_frame(buf, 64);
             process_frame(buf, nbytes);
         }

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
@@ -294,9 +294,9 @@ void AP_RCProtocol_CRSF::frame_input_enabled(AP_HAL::UARTDriver* uart, bool onof
 {
     AP_RCProtocol_Backend::frame_input_enabled(uart, onoff);
     if (onoff) {
-        uart->begin_framing(CRSF_FRAMELEN_MAX, 5);
+        uart->begin_framing(CRSF_FRAMELEN_MAX);
     } else {
-        uart->begin_framing(1, 1);  // stop framing
+        uart->begin_framing(1);  // stop framing
     }
 }
 
@@ -441,7 +441,7 @@ bool AP_RCProtocol_CRSF::decode_crsf_packet()
             // change the baud rate
             uart->begin(_new_baud_rate);
             if (!AP_RCProtocol_Backend::frame_input_enabled()) {
-                uart->begin_framing(CRSF_FRAMELEN_MAX, 5);
+                uart->begin_framing(CRSF_FRAMELEN_MAX);
             }
         }
         _new_baud_rate = 0;